Systems and methods for navigation using cross correlation on evidence grids
First Claim
1. A method for acquiring navigation information, the method comprising:
- calculating a navigation solution, with a navigation processor, from motion information received from an inertial measurement unit;
scanning an environment with a sensor;
creating a current evidence grid based on data received from scanning the environment and the navigation solution, wherein an evidence grid represents the environment with a collection of cells, where each cell has a probability that an associated location in the environment is occupied by a feature;
correlating the current evidence grid against a historical evidence grid to find a matching position and produce displacement information, wherein correlating the current evidence grid against a historical evidence grid comprises performing one or more translations or rotations to align the current evidence grid and the historical evidence grid; and
correcting the navigation solution based on the displacement information.
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Abstract
Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.
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Citations
20 Claims
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1. A method for acquiring navigation information, the method comprising:
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calculating a navigation solution, with a navigation processor, from motion information received from an inertial measurement unit; scanning an environment with a sensor; creating a current evidence grid based on data received from scanning the environment and the navigation solution, wherein an evidence grid represents the environment with a collection of cells, where each cell has a probability that an associated location in the environment is occupied by a feature; correlating the current evidence grid against a historical evidence grid to find a matching position and produce displacement information, wherein correlating the current evidence grid against a historical evidence grid comprises performing one or more translations or rotations to align the current evidence grid and the historical evidence grid; and correcting the navigation solution based on the displacement information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for correcting errors in an inertial navigation system, the system comprising
a navigation processor configured to provide a navigation solution; -
a sensor configured to scan an environment an evidence grid creator configured to create a current evidence grid based on data received from the sensor and the navigation solution, wherein an evidence grid represents a collection of cells in the environment, where each cell has a probability that the cell is occupied by a feature in the environment; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in memory to find a matching position and produce displacement information, wherein the correlator performs one or more translations or rotations to align the current evidence grid and the historical evidence grid; and a measurement unit configured to correct the navigation solution based on the displacement information. - View Dependent Claims (12, 13)
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14. A system for using cross-correlated evidence grids to acquire navigation information, the system comprising:
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a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution, wherein an evidence grid represents a collection of cells in the environment, where each cell has a probability that the cell is occupied by a feature in the environment; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information, wherein the correlator performs one or more translations or rotations to align the current evidence grid and the historical evidence grid; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification