Augmented mobile platform localization

• US 8,880,340 B2
• Filed: 01/04/2013
• Issued: 11/04/2014
• Est. Priority Date: 01/04/2013
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Li, Hui, Erignac, Charles A
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US13/734,707
• Publication Number:
  US 20140195148A1
• Time in Patent Office: 669 Days
• Field of Search: 701/445
• 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: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0282 generated in a local control room

Abstract

A system includes a transformation module, alignment module and aligned localization module. The transformation module is configured to receive first and second pose estimates of a mobile platform movable within an environment. The first and second pose estimates are relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems. The transformation module, then, may be configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates. The alignment module may be configured to align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map. And the aligned localization module may be configured to localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform.

Claims

1. A system comprising:

a transformation module configured to receive first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems, the transformation module being configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates;

an alignment module configured to align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map;

an aligned localization module configured to localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform; and

a communication interface configured to communicate the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment.

2. The system of claim 1, wherein the transformation module is configured to receive the first pose estimate from a mapping and localization system onboard the mobile platform, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map.

3. The system of claim 2, wherein the alignment module is configured to receive the first digital map from the mapping and localization system.

4. The system of claim 2, wherein the transformation module is configured to receive the first pose estimate from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique.

5. The system of claim 1, wherein the transformation module is configured to receive the second pose estimate from a wireless locating system configured to calculate the second pose estimate of the mobile platform relative to the second digital map accessible from storage.

6. The system of claim 5, wherein the transformation module is configured to receive the second pose estimate from the wireless locating system comprising an indoor or local positioning system.

7. The system of claim 1, wherein the first and second digital maps cover the same space of the environment, and the first and second pose estimates are different descriptions of the same position and orientation of the mobile platform in the same space of the environment.

8. The system of claim 1 further comprising:

a mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map, the first digital map depicting real obstacles in the environment;

a wireless locating system (WLS) localization module configured to control a transmitter to broadcast a signal received by the mobile platform, receive a responsive transponding signal from the mobile platform to calculate the second pose estimate of the mobile platform relative to the second digital map, the second digital map depicting one or more of a destination, travel lane or stay-out zone; and

a communication interface configured to communicate the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment.

9. An apparatus comprising a processor and a memory storing computer-readable program code portions that, in response to execution by the processor, cause the apparatus to at least:

receive first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems;

calculate a geometric transform between the first and second digital maps based on the first and second pose estimates;

align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map; and

localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform,

wherein the apparatus further comprises a communication interface configured to communicate the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment.

10. The apparatus of claim 9, wherein the apparatus is caused to receive the first pose estimate from a mapping and localization system onboard the mobile platform, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map.

11. The apparatus of claim 10, wherein the apparatus is caused to receive the first digital map from the mapping and localization system.

12. The apparatus of claim 10, wherein the apparatus is caused to receive the first pose estimate from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique.

13. The apparatus of claim 9, wherein the apparatus is caused to receive the second pose estimate from a wireless locating system configured to calculate the second pose estimate of the mobile platform relative to the second digital map accessible from storage.

14. The apparatus of claim 13, wherein the apparatus is caused to receive the second pose estimate from the wireless locating system comprising an indoor or local positioning system.

15. The apparatus of claim 9, wherein the first and second digital maps cover the same space of the environment, and the first and second pose estimates are different descriptions of the same position and orientation of the mobile platform in the same space of the environment.

16. A method comprising:

receiving first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems;

calculating a geometric transform between the first and second digital maps based on the first and second pose estimates;

aligning the first and second digital maps based on the geometric transform, and thereby generating an aligned digital map;

localizing the mobile platform relative to the aligned digital map, and thereby calculating an aligned pose estimate of the mobile platform; and

communicating the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment.

17. The method of claim 16, wherein the first pose estimate is received from a mapping and localization system onboard the mobile platform, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map.

18. The method of claim 17, wherein the aligning the first and second digital maps includes receiving the first digital map from the mapping and localization system.

19. The method of claim 17, wherein the first pose estimate is received from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique.

20. The method of claim 16, wherein the second pose estimate is received from a wireless locating system configured to calculate the second pose estimate of the mobile platform relative to the second digital map accessible from storage.

21. The method of claim 20, wherein the second pose estimate is received from the wireless locating system comprising an indoor or local positioning system.

22. The method of claim 16, wherein the first and second digital maps cover the same space of the environment, and the first and second pose estimates are different descriptions of the same position and orientation of the mobile platform in the same space of the environment.

23. The method of claim 16 further comprising:

building the first digital map of the environment using a mapping and localization system, and calculating the first pose estimate of the mobile platform relative to the first digital map, the first digital map depicting real obstacles in the environment; and

broadcasting, via a wireless locating system, a signal received by the mobile platform, and receiving a responsive transponding signal from the mobile platform to calculate the second pose estimate of the mobile platform relative to the second digital map, the second digital map depicting one or more of a destination, travel lane or stay-out zone.