SYSTEM AND METHOD FOR CALCULATING LEVER ARM VALUES PHOTOGRAMMETRICALLY
First Claim
1. A system, comprising:
- a calibrated camera configured to capture a plurality of images of a global navigation satellite system (GNSS)/inertial navigation system (INS) system, wherein each image includes a GNSS antenna of the GNSS/INS system, a reference point of the INS of the GNSS/INS system, and a target having known attributes and a plurality of control points; and
one or more processors configured to execute an application that provides instructions to determine lever arm values associated with the GNSS/INS system photogrammetrically based on the plurality of images of the GNSS/INS system and the known attributes and the plurality of control points of the target in the images.
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Abstract
The inventive technique calculates lever arm values associated with a GNSS/INS system photogrammetrically. A calibrated camera on a device captures a plurality of images of the GNSS/INS system with the inclusion of a target, having known attributes and a plurality of control points. Thereafter, an application, executing on the device determines the lever arm values from the images of the GNSS/INS system utilizing the known attributes and the control points of the target. The INS may utilize the calculated lever arm values to combine information received from a GNSS receiver, of the GNSS/INS system, with information provided by sensors of the INS to compute updated positions, velocities, and/or orientations.
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Citations
20 Claims
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1. A system, comprising:
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a calibrated camera configured to capture a plurality of images of a global navigation satellite system (GNSS)/inertial navigation system (INS) system, wherein each image includes a GNSS antenna of the GNSS/INS system, a reference point of the INS of the GNSS/INS system, and a target having known attributes and a plurality of control points; and one or more processors configured to execute an application that provides instructions to determine lever arm values associated with the GNSS/INS system photogrammetrically based on the plurality of images of the GNSS/INS system and the known attributes and the plurality of control points of the target in the images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method, comprising:
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receiving a plurality of images, captured by a calibrated camera, of a global navigation satellite system (GNSS)/inertial navigation system (INS) system, wherein each image includes a GNSS antenna of the GNSS/INS system, a reference point of the INS of the GNSS/INS system, and a target having know attributes and a plurality of control points; and calculating, by a processor, the lever arm values photogrammetrically associated with the GNSS/INS system based on the plurality of images of the GNSS/INS system and the known attributes and the plurality of control points of the target in the images. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification