SYSTEM AND METHOD FOR USING GLOBAL NAVIGATION SATELLITE SYSTEM (GNSS) NAVIGATION AND VISUAL NAVIGATION TO RECOVER ABSOLUTE POSITION AND ATTITUDE WITHOUT ANY PRIOR ASSOCIATION OF VISUAL FEATURES WITH KNOWN COORDINATES
First Claim
1. An apparatus comprising:
- a first global navigation satellite system antenna;
a mobile global navigation satellite system receiver connected to the first global navigation satellite system antenna that produces a first set of carrier-phase measurements from a global navigation satellite system;
an interface that receives a second set of carrier-phase measurements based on a second global navigation satellite system antenna at a known location;
a camera that produces an image; and
a processor communicably coupled to the mobile global navigation satellite system receiver, the interface and the camera, wherein the processor determines an absolute position and an absolute attitude of the apparatus solely from three or more sets of data and a rough estimate of the absolute position of the apparatus without any prior association of visual features with known coordinates, each set of data comprises the image, the first set of carrier-phase measurements and the second set of carrier-phase measurements.
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Accused Products
Abstract
An apparatus includes a global navigation satellite system antenna, a global navigation satellite system receiver, a camera, and a processor. The mobile global navigation satellite system receiver produces a set of carrier-phase measurements from a global navigation satellite system. The camera produces an image. The processor determines an absolute position and an absolute attitude of the apparatus solely from three or more sets of data and a rough estimate of the absolute position of the apparatus without any prior association of visual features with known coordinates. Each set of data includes the image and the set of carrier-phase measurements. In addition, the processor uses either a precise orbit and clock data for the global navigation satellite system or another set of carrier-phase measurements from another global navigation satellite system antenna at a known location in each set of data.
89 Citations
79 Claims
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1. An apparatus comprising:
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a first global navigation satellite system antenna; a mobile global navigation satellite system receiver connected to the first global navigation satellite system antenna that produces a first set of carrier-phase measurements from a global navigation satellite system; an interface that receives a second set of carrier-phase measurements based on a second global navigation satellite system antenna at a known location; a camera that produces an image; and a processor communicably coupled to the mobile global navigation satellite system receiver, the interface and the camera, wherein the processor determines an absolute position and an absolute attitude of the apparatus solely from three or more sets of data and a rough estimate of the absolute position of the apparatus without any prior association of visual features with known coordinates, each set of data comprises the image, the first set of carrier-phase measurements and the second set of carrier-phase measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. An apparatus comprising:
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a global navigation satellite system antenna; a mobile global navigation satellite system receiver connected to the global navigation satellite system antenna that produces a set of carrier-phase measurements from a global navigation satellite system with signals at multiple frequencies; a camera that produces an image; and a processor communicably coupled to the mobile global navigation satellite system receiver and the camera, wherein the processor determines an absolute position and an absolute attitude of the apparatus solely from three or more sets of data, a rough estimate of the absolute position of the apparatus and a precise orbit and clock data for the global navigation satellite system without any prior association of visual features with known coordinates, each set of data comprises the image and the set of carrier-phase measurements. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59)
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60. A computerized method for determining an absolute position and an absolute attitude of an apparatus comprising the steps of:
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providing the apparatus comprising a first global navigation satellite system antenna, a mobile global navigation satellite system receiver connected to the first global navigation satellite system antenna, an interface, a camera, and a processor communicably coupled to the mobile global navigation satellite system receiver, the interface and the camera; receiving a first set of carrier-phase measurements produced by the mobile global navigation satellite system receiver from a global navigation satellite system; receiving a second set of carrier-phase measurements from the interface based on a second global navigation satellite system antenna at a known location receiving an image from the camera; and determining the absolute position and the absolute attitude of the apparatus using the processor based solely from three or more sets of data and a rough estimate of the absolute position of the apparatus without any prior association of visual features with known coordinates, each set of data comprises the image, the first set of carrier-phase measurements and the second set of carrier-phase measurements. - View Dependent Claims (61, 62, 63, 64, 65, 66, 67, 68, 69, 70)
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71. A computerized method for determining an absolute position and an attitude of an apparatus comprising the steps of:
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providing the apparatus comprising a global navigation satellite system antenna, a mobile global navigation satellite system receiver connected to the global navigation satellite system antenna, a camera, and a processor communicably coupled to the mobile global navigation satellite system receiver and the camera; receiving a set of carrier-phase measurements produced by the mobile global navigation satellite system receiver from a global navigation satellite system with signals at multiple frequencies; receiving an image from the camera; and determining the absolute position and the attitude using the processor based solely from three or more sets of data, a rough estimate of the absolute position of the apparatus and a precise orbit and clock data for the global navigation satellite system without any prior association of visual features with known coordinates, each set of data comprises the image, and the set of carrier-phase measurements. - View Dependent Claims (72, 73, 74, 75, 76, 77, 78, 79)
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Specification