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Systems and methods for navigation using cross correlation on evidence grids

  • US 8,855,911 B2
  • Filed: 12/09/2010
  • Issued: 10/07/2014
  • Est. Priority Date: 12/09/2010
  • Status: Active Grant
First Claim
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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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