Correlation position determination

• US 8,670,932 B2
• Filed: 08/23/2013
• Issued: 03/11/2014
• Est. Priority Date: 02/23/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G.
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US13/974,342
• Publication Number:
  US 20130345968A1
• Time in Patent Office: 200 Days
• Field of Search: 701/3, 701/23, 701/25, 701/26, 701/28, 701/117, 701/120, 701/400, 701/408, 701/409, 701/445, 701/446, 701/447, 701/448, 701/450, 701/461, 701/467, 701/468, 701/469, 701/472, 701/494, 701/495, 701/514, 701/519, 701/521, 701/527, 701/540, 342/42, 342/46, 342/118, 342/147, 342/350, 342/357.2, 342/357.21, 342/357.22, 342/357.25, 342/450, 180/167, 180/168, 180/169, 340/935, 340/995.1, 340/995.19, 340/995.24, 340/995.25
• US Class Current: 701/445
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

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.

Claims

1. A location determination device, comprising:

a ranging device configured to measure ranges and associated angles to objects;

a scene database configured to store the ranges and associated angles to the objects, and orientation angles of pitch, roll, and yaw of a vehicle with regard to the objects, to create a map having sections including information on the ranges and associated angles to the objects, and measurement location information of the objects; and

a correlation system including a processor configured to correlate current measured ranges, associated angles to the objects, and orientation angles of pitch, roll, and yaw of the vehicle with regard to the objects, with the stored ranges, associated angles to the objects, and orientation angles of pitch, roll, and yaw of the vehicle with regard to the objects in at least one section of the map, to determine at least one of a location or heading.

2. The device of claim 1, further comprising an inertial sensor, and at least one of a heading sensor, a speed sensor, a global positioning sensor, or an altimeter sensor.

3. The device of claim 1, wherein the correlation system further comprises:

a discriminator configured to output correlation data relating to measured and stored data; and

a normalization unit configured to adjust the output from the discriminator to adjust for quality factors in the measured and stored data.

4. The device of claim 1, wherein the ranging device is further configured to scan a subset of 360 degrees.

5. The device of claim 1, wherein the ranging device is one of a laser ranger, a radar rangefinder, a stereo rangefinder, a 360 degree LIDAR, or a flash LIDAR.

6. A method of determining a location within a select area, the method comprising:

conducting a range scan with a ranging device to determine ranges and associated angles to objects while a vehicle initially traverses throughout the select area;

storing data required to reconstruct the ranges, associated angles to the objects, and orientation angles of pitch, roll, and yaw of the vehicle with regard to the objects while the vehicle initially traverses throughout the select area;

measuring current ranges and associated angles to the objects with the ranging device during a subsequent traversal of the vehicle throughout the select area;

correlating the current ranges, associated angles to the objects, and orientation angles of pitch, roll, and yaw of the vehicle with regard to the objects to reconstructed ranges, associated angles to the objects, and orientation angles of pitch, roll, and yaw of the vehicle with regard to the objects from the stored data; and

determining at least one of a current location or heading within the select area based at least in part on correlation results.

7. The method of claim 6, wherein the stored data required to reconstruct the ranges, associated angles to the objects, and associated orientation angles comprises a map identifying estimated locations of objects.

8. The method of claim 6, wherein the current location includes a 3D location and the heading includes an attitude estimate.

9. The method of claim 6, wherein the orientation angles of pitch, roll, and yaw are measured with an inertial sensor on the vehicle.

10. The method of claim 6, wherein the range scan is up to 360 degrees.

11. The method of claim 6, wherein the ranging device is one of a laser ranger, a radar rangefinder, a stereo rangefinder, a 360 degree LIDAR, or a flash LIDAR.