Method for using partially occluded images for navigation and positioning

• US 9,411,053 B2
• Filed: 06/19/2014
• Issued: 08/09/2016
• Est. Priority Date: 06/19/2014
• Status: Active Grant

• Current Assignee: Novatel Incorporated (Hexagon AB)
• Original Assignee: Novatel Incorporated (Hexagon AB)
• Inventors: Morin, Kristian
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US14/309,526
• Publication Number:
  US 20150369923A1
• Time in Patent Office: 782 Days
• Field of Search: 701/408, 701468-469, 701472-473, 7014785-480, 701500-501, 701505-506, 701509-510, 701/514, 701/518, 701534-536, 34099524-99525, 340/995.28
• US Class Current: 1/1
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/277 involving stochastic approaches, e.g. using Kalman filters

Abstract

A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information that is used as an input to an error correction module. The error correction module outputs inertial location adjustment information that is used to update the inertial system'"'"'s location information.

Claims

1. A system comprising:

a GNSS system configured to provide GNSS location information related to a vehicle;

an inertial navigation system operatively interconnected with the GNSS system, the inertial navigation system configured to provide inertial location information related to the vehicle;

an image capture device configured to obtain one or more images of a fixed field of view;

a vision system configured to determine vision system location information using the obtained one or more images, the vision system further configured to forward the vision system location information to an error correction module, the error correction module configured to utilize the inertial location information and the vision system location information to generate inertial navigation system adjustment information, wherein the error correction module utilizes a linear error correction model that utilizes at least a total of 12 tie points within a sequence of one or more of the obtained one or more images; and

a Kalman filter configured to determine a location of the vehicle using the GNSS location information, the inertial location information and the vision system location information.

2. The system of claim 1 wherein the error correction module is further configured to forward the inertial navigation system adjustment information to the inertial navigation system.

3. The system of claim 2 wherein the inertial navigation system is further configured to update the inertial location information using the inertial navigation system adjustment information.

4. A method comprising:

using a GNSS system to determine a set of GNSS location information;

using an inertial system to determine a set of inertial location information;

obtaining one or more images using an image acquisition device having a fixed field of view;

using a vision system to obtain a set of vision system location information using the obtained one or more images;

computing, by an error correction module, inertial navigation system adjustment information using the vision system location information, wherein the error correction module utilizes a linear error correction model that utilizes at least a total of 12 tie points within a sequence of one or more of the obtained one or more images; and

using a Kalman filter to determine a location of the vehicle using the GNSS location information, the inertial location information and the vision system location information.

5. The method of claim 4 further comprising using the inertial navigation system adjustment to update the inertial system.

6. The method of claim 4 further comprising updating inertial location information.