SYSTEM AND METHOD FOR ROBUST NAVIGATION AND GEOLOCATION USING MEASUREMENTS OF OPPORTUNITY
First Claim
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1. A method of locating a mobile agent along a z-axis in a multiple agent environment wherein each agent includes a barometric sensor, comprising the steps of:
- receiving a first barometric measurement from a barometric sensor associated with a first mobile agent;
receiving a plurality of second barometric measurements from a plurality of second mobile agents, each of the second mobile agents having a barometric sensor;
using a filter to process the first barometric measurement and the plurality of second barometric measurements to determine a barometric measurement for the first mobile agent, wherein a barometric reference station is not utilized in determining the barometric measurement for the first mobile agent; and
converting the barometric measurement for the first mobile agent to an estimated elevation of the first mobile agent.
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Abstract
A system and method to opportunistically capture and use measurements of barometric readings from a plurality of mobile agents to determine the elevational position of one of the mobile agents.
67 Citations
17 Claims
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1. A method of locating a mobile agent along a z-axis in a multiple agent environment wherein each agent includes a barometric sensor, comprising the steps of:
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receiving a first barometric measurement from a barometric sensor associated with a first mobile agent; receiving a plurality of second barometric measurements from a plurality of second mobile agents, each of the second mobile agents having a barometric sensor; using a filter to process the first barometric measurement and the plurality of second barometric measurements to determine a barometric measurement for the first mobile agent, wherein a barometric reference station is not utilized in determining the barometric measurement for the first mobile agent; and converting the barometric measurement for the first mobile agent to an estimated elevation of the first mobile agent. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 17)
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9. A system for locating a mobile agent along a z-axis in a multiple agent environment wherein each agent includes a barometric sensor, comprising the steps of:
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a first mobile agent having a barometric sensor a plurality of second mobile agents, each of the plurality of second mobile agents having a barometric sensor a memory for storing computer readable code; a processor operatively coupled to the memory, the processor configured to; (i) receive a first barometric measurement from a barometric sensor associated with a first mobile agent; (ii) receive a plurality of second barometric measurements from a plurality of second mobile agents; (iii) apply a filter function to the first barometric measurement and the plurality of second barometric measurements to determine a barometric measurement for the first mobile agent, wherein a barometric reference standard is not utilized in determining the barometric measurement for the first mobile agent; and (iv) convert the barometric measurement for the first mobile agent to an estimated elevation of the first mobile agent. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification