Correlation position determination
First Claim
1. A method of navigating with use of correlation position determination, the method comprising:
- identifying an initial location and heading of an operator-less vehicle in a select area, the operator-less vehicle including a ranging device and a processor;
conducting a 360°
range scan with the ranging device while the operator-less vehicle is initially traversing throughout the select area;
storing data from the range scan required to reconstruct ranges and associated angles to objects into a scene database wherein the range scan data is stored with respect to an earth reference heading at selected angular implements;
estimating an initial location of the operator-less vehicle—
ring a subsequent traversal of the select area;
measuring current ranges and associated angles to the objects with the ranging device during the subsequent traversal by the operator-less vehicle throughout the select area;
correlating the current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data using the processor;
determining at least one of current location and heading estimates within the select area based at least in part on correlation results using the processor; and
using the at least one of the current location and heading estimates for navigation.
1 Assignment
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Accused Products
Abstract
Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.
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Citations
13 Claims
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1. A method of navigating with use of correlation position determination, the method comprising:
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identifying an initial location and heading of an operator-less vehicle in a select area, the operator-less vehicle including a ranging device and a processor; conducting a 360°
range scan with the ranging device while the operator-less vehicle is initially traversing throughout the select area;storing data from the range scan required to reconstruct ranges and associated angles to objects into a scene database wherein the range scan data is stored with respect to an earth reference heading at selected angular implements; estimating an initial location of the operator-less vehicle—
ring a subsequent traversal of the select area;measuring current ranges and associated angles to the objects with the ranging device during the subsequent traversal by the operator-less vehicle throughout the select area; correlating the current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data using the processor; determining at least one of current location and heading estimates within the select area based at least in part on correlation results using the processor; and using the at least one of the current location and heading estimates for navigation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of navigating with use of correlation position determination, the method comprising:
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identifying an initial location and heading of an operator-less vehicle traversing a select area an initial time; while traversing the select area the initial time, performing a 360°
range scan with a ranging device on the operator-less vehicle to determine ranges and associated angles to objects;storing the ranges and associated angles to objects in a scene database to create a map of sectors of distances and associated angles to objects throughout the select area; estimating an initial location during a subsequent traversal of the operator-less vehicle through the select area; conducting a range scan with the ranging device at the estimated initial location to determine ranges and associated angles to objects; selecting an appropriate sector of the map of stored ranges and associated angles in the scene database based at least in part on the estimated initial location; correlating the ranges and associated angles of the conducted range scan with the ranges and associated angles in the selected sector of the map to determine at least one of current location and heading using a processor; and outputting the at least one of current location and heading for use in navigation. - View Dependent Claims (10, 11, 12)
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13. A navigation system for an operator-less vehicle, comprising:
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a ranging device; and a processor operatively coupled to the ranging device and configured to execute program instructions comprising; identifying an initial location and heading of the operator-less vehicle in a select area; conducting a 360°
range scan with the ranging device while the operator less vehicle is initially traversing throughout a select area;storing data from the range scan required to reconstruct ranges and associated angles to objects into a scene database wherein the range scan data is stored with respect to an earth reference heading at selected angular implements;
estimating an initial location of the operator-less vehicle during a subsequent traversal of the select area;measuring current ranges and associated angles to the objects with the ranging device during the subsequent traversal by the operator-less vehicle throughout the select area; correlating the current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data; determining at least one of current location and heading estimates within the select area based at least in part on correlation results; and using the at least one of the current location and heading estimates for navigation.
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Specification