SYSTEM AND METHOD FOR AUGMENTING A GNSS/INS NAVIGATION SYSTEM OF A LOW DYNAMIC VESSEL USING A VISION SYSTEM
First Claim
Patent Images
1. A system comprising:
- a GNSS system configured to provide GNSS location information related to a vessel;
an inertial navigation system operatively interconnected with the GNSS system, the inertial system configured to provide inertial location information related to the vessel;
an image capture device configured to obtain one or more images of a fixed field of view;
a vision system configured to determine vision system location information using the captured one or more images;
a Kalman filter configured to determine a location of the vessel using the GNSS location information, the inertial location information and the vision system location information;
wherein a weighting of the vision system location information is increased in the Kalman filter and a weighting of the inertial location information is decreased in the Kalman when the vessel is operating under low dynamic conditions; and
wherein the weighting of the vision system location information is decreased in the Kalman filter and the weighting of the inertial location information is increased in the Kalman when the vessel is operating under non-low dynamic conditions
1 Assignment
0 Petitions
Accused Products
Abstract
A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information based on pitch, roll, heading and velocity of the vessel. A Kalman filter de-weights the inertial location information in response to the vessel entering a low dynamic environment, while the weighting of the vision system location information is increased.
-
Citations
15 Claims
-
1. A system comprising:
-
a GNSS system configured to provide GNSS location information related to a vessel; an inertial navigation system operatively interconnected with the GNSS system, the inertial system configured to provide inertial location information related to the vessel; an image capture device configured to obtain one or more images of a fixed field of view; a vision system configured to determine vision system location information using the captured one or more images; a Kalman filter configured to determine a location of the vessel using the GNSS location information, the inertial location information and the vision system location information; wherein a weighting of the vision system location information is increased in the Kalman filter and a weighting of the inertial location information is decreased in the Kalman when the vessel is operating under low dynamic conditions; and wherein the weighting of the vision system location information is decreased in the Kalman filter and the weighting of the inertial location information is increased in the Kalman when the vessel is operating under non-low dynamic conditions - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method comprising:
-
using a GNSS system to determine a set of GNSS location information; using an inertial system to determine a set of inertial location information; obtaining one or more images using an image acquisition device having a fixed field of view; using a vision system to obtain a set of vision system location information using the obtained one or more images; using a Kalman filter to determine a set of location information for the vessel, wherein the Kalman filter uses one or more of the set of GNSS location information, the inertial location information and the vision system location information; and in response to the vessel experiencing a low dynamic environment, decreasing a weighting of the inertial location information and increasing a weighting of the vision system location information. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
Specification