SYSTEM FOR POST PROCESSING GNSS/INS MEASUREMENT DATA AND CAMERA IMAGE DATA
First Claim
1. A post processing navigation mapping system including:
- a camera subsystem;
a GNSS/INS subsystem;
one or more processors that receive measurement data and image data from the subsystems, the one or more processors being configured tocalculate sets of position, velocity and attitude solutions and associated variances that correspond in time to images taken by the camera subsystem, by processing the measurement data received from the GNSS/INS subsystem forward in time and backward in time,determine which of the sets of solutions are reliable and using the reliable sets of solutions to determine position, velocity and attitude information for a camera included in the camera subsystem, andfor sets of solutions determined to be unreliable further process the GNSS/INSS measurement data and the corresponding image data from images that correspond in time to determine further processed solutions and using the further processed solutions to determine position, velocity and attitude information for one or both of the camera and an INS measurement unit included in the GNSS/INS subsystem.
1 Assignment
0 Petitions
Accused Products
Abstract
A system for performing post processing of GNSS and INS measurement data and image data to provide highly accurate location information for a camera, an INS measurement unit or both performs first processing operations using the GNSS and INS measurement data, to determine position, velocity and attitude solutions. The system then analyzes the solutions to determine which measurement data provide sufficiently reliable solutions from which to determine the precise position, velocity and attitude of the camera, and thus, which measurement data do not provide sufficiently reliable solutions. The system and method then performs more time consuming and processing intensive processing operations using the measurement data and camera image data that are associated with solutions that are not sufficiently reliable.
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Citations
20 Claims
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1. A post processing navigation mapping system including:
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a camera subsystem; a GNSS/INS subsystem; one or more processors that receive measurement data and image data from the subsystems, the one or more processors being configured to calculate sets of position, velocity and attitude solutions and associated variances that correspond in time to images taken by the camera subsystem, by processing the measurement data received from the GNSS/INS subsystem forward in time and backward in time, determine which of the sets of solutions are reliable and using the reliable sets of solutions to determine position, velocity and attitude information for a camera included in the camera subsystem, and for sets of solutions determined to be unreliable further process the GNSS/INSS measurement data and the corresponding image data from images that correspond in time to determine further processed solutions and using the further processed solutions to determine position, velocity and attitude information for one or both of the camera and an INS measurement unit included in the GNSS/INS subsystem. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for post processing navigation measurement data including:
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receiving measurement data from a GNSS/INS subsystem and image data from a camera subsystem, in one or more processors calculating sets of position, velocity and attitude solutions and associated variances that correspond in time to images taken by the camera subsystem by processing the measurement data received from the GNSS and INS subsystems forward in time and backward in time, determining which of the sets of solutions are reliable and using the reliable sets of solutions to determine position, velocity and attitude of a camera included in the camera subsystem, and for sets of solutions determined to be unreliable further processing the GNSS/INSS measurement data and the image data from images that correspond in time to determine further processed solutions and using the further processed solutions to determine position, velocity and attitude for one or both of the camera and an INS measurement unit included in the GNSS/INS subsystem. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification