Integrated photogrammetric light communications positioning and inertial navigation system positioning
First Claim
1. A non-transitory computer readable medium encoded with a computer program that includes instructions to cause a processor to:
- receive measured inertial quantities resulting from movement of an apparatus;
estimate a kinematic state associated with the movement based on the measured inertial quantities;
record a sequence of images of an array of spatially positioned lights, wherein each image includes images of modulated light beams emitted from respective lights of the array at respective 2-dimensional coordinates of the image;
demodulate identifiers from the images of modulated light beams;
retrieve predetermined physical positions of the lights of the array, within a 3-dimensional coordinate frame, based on the respective demodulated identifiers;
photogrammetrically determine a position of the apparatus relative to the array of lights based on the predetermined physical positions of the respective lights within the 3-dimensional coordinate frame, the 2-dimensional coordinates of the images of the light beams within the images, and the estimated kinematic state; and
correct the estimated kinematic state based on the photogrammetrically determined position to produce a corrected estimated kinematic state.
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Accused Products
Abstract
A mobile device includes an inertial navigation system (INS) to measure inertial quantities associated with movement of the device, and estimate a kinematic state associated with the movement based on the measured inertial quantities. The device includes a light receiver to record light beams originating from lights at respective image positions in a sequence of images. The device photogrammetrically determines its position relative to the originating lights based on predetermined real-world positions and corresponding image positions of the lights. The device corrects the estimated kinematic state based on the photogrammetrically determined position, to produce a corrected estimated kinematic state.
105 Citations
21 Claims
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1. A non-transitory computer readable medium encoded with a computer program that includes instructions to cause a processor to:
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receive measured inertial quantities resulting from movement of an apparatus; estimate a kinematic state associated with the movement based on the measured inertial quantities; record a sequence of images of an array of spatially positioned lights, wherein each image includes images of modulated light beams emitted from respective lights of the array at respective 2-dimensional coordinates of the image; demodulate identifiers from the images of modulated light beams; retrieve predetermined physical positions of the lights of the array, within a 3-dimensional coordinate frame, based on the respective demodulated identifiers; photogrammetrically determine a position of the apparatus relative to the array of lights based on the predetermined physical positions of the respective lights within the 3-dimensional coordinate frame, the 2-dimensional coordinates of the images of the light beams within the images, and the estimated kinematic state; and correct the estimated kinematic state based on the photogrammetrically determined position to produce a corrected estimated kinematic state. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus, comprising, a controller configured to:
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estimate a kinematic state associated with movement of the apparatus based on measured inertial quantities associated with the movement; access a sequence of images of an array of spatially positioned lights, recorded from a perspective of the apparatus, wherein each image includes images of light beams emitted from respective lights of the array at respective 2-dimensional coordinates of the image; demodulate identifiers from the images of modulated light beams; retrieve predetermined physical positions of the lights of the array, within a 3-dimensional coordinate frame, based on the respective demodulated identifiers; photogrammetrically determine a position of the apparatus relative to the array of lights based on the predetermined physical positions of the lights within the 3-dimensional coordinate frame, the 2-dimensional coordinates of the images of the light beams within the images, and the estimated kinematic state; and correct the estimated kinematic state based on the photogrammetrically determined position to provide a corrected estimated kinematic state. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method, comprising:
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measuring inertial quantities resulting from movement of an apparatus; estimating a kinematic state associated with the movement based on the measured inertial quantities; recording a sequence of images of an array of spatially positioned lights, from a perspective of the apparatus, wherein each image includes images of light beams emitted from respective lights of the array at respective 2-dimensional coordinates of the image; demodulating identifiers from the images of modulated light beams; retrieving predetermined physical positions of the lights of the array, within a 3-dimensional coordinate frame, based on the respective demodulated identifiers; photogrammetrically determining a position of the apparatus relative to the array of lights based on the predetermined physical positions of the respective lights within the 3-dimensional coordinate frame, the 2-dimensional coordinates of the images of the light beams within the images, and the estimated kinematic state; and correcting the estimated kinematic state based on the photogrammetrically determined position to provide a corrected estimated kinematic state. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification