CORRELATION POSITION DETERMINATION

• US 20080208455A1
• Filed: 02/23/2007
• Published: 08/28/2008
• Est. Priority Date: 02/23/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G.
• Granted Patent: US 8,554,478 B2
• Time in Patent Office: Days
• US Class Current: 701/207
• 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: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.

Claims

1. A method of navigating with the use of correlation within a select area, the method comprising:

storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area;

measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area;

correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data;

determining at least one of then current location and heading estimates within the select area based at least in part on correlation results; and

using the at least one of the then current location and heading estimates for navigation.

2. The method of claim 1, wherein the stored data required to reconstruct ranges and associated angles is a map identifying estimated location of objects.

3. The method of claim 1, wherein correlating further comprises:

shifting fractions of angles to improve the accuracy of the heading estimate.

4. The method of claim 1, further comprising:

storing data required to reconstruct range and associated orientation angles of pitch, roll and yaw with regard to objects while initially traversing throughout the select area;

measuring then current range and associated orientation angles of pitch, roll and yaw with regard to the objects during a subsequent traversal throughout the select area;

correlating the then current range and associated orientation angles of pitch, roll and yaw with regards to the objects to reconstructed range and associated orientation angles of pitch, roll and yaw with regards to the objects from the stored data; and

determining a then current 3D location and attitude estimate within the select area based at least in part on the correlation results.

5. The method of claim 1, wherein correlating further comprises:

improving the accuracy of the then current location estimate by processing a scan to estimate the location within a sector.

6. The method of claim 1, further comprising:

using at least one of inertial data, dead reckoning and GPS in estimating the then current location.

7. The method of claim 1, further comprising:

basing the correlation at least in part on areas where no object was found within the operating range of a ranging device for the angle in question common to both the original and subsequent traversal.

8. The method of claim 1, correlating the then current ranges and angles to the objects to reconstructed ranges and angles to the objects reconstructed from the stored data:

implementing a discriminator on the then current ranges and associated angles to the objects and the stored ranges and associated angles to the objects.

9. The method of claim 8, further comprising:

normalizing an output of the discriminator based on quality of the data.

10. The method of claim 1, further comprising:

enhancing the current location estimate by at least one of reducing the size of sectors in the select area and breaking a selected sector into sub-sectors and reprocessing range and associated angle data to estimate the location within a sector in the select area.

11. A method navigating with the use of correlation in a select area, the method comprising:

traversing throughout the select area an initial time;

while traversing throughout the select area the initial time, determining ranges and associated angles to objects;

storing the ranges and associated angles to objects in a scene database to create a map of sectors of distances and associated angles to objects throughout the select area;

estimating a current location estimate for a subsequent traversal through the selected area;

conducting a range scan at the estimated location to determine ranges and associated angles to objects;

selecting an appropriate sector of the map of stored ranges and associated angles in the scene database based at least in part on the estimated location estimate;

correlating the ranges and associated angles of the conducted range scan with the ranges and associated angles in the selected sector of the map to determine at least one of current location and heading; and

outputting the at least one of current location and heading for use in navigation.

12. The method of claim 11, wherein correlating the ranges and associated angles of the conducted range scan with the ranges and associated angles in the selected sectors of the map to determine at least one of current location and heading further comprises:

shifting through angles at each selected sector of the map by a select increment;

applying a discriminator to the ranges and associated angles of the conducted range scan with the ranges and associated angles in the selected section of the map; and

normalizing an output of the discriminator to adjust for the quality of measurements.

13. The method of claim 12, further comprising:

shifting a scan sector of the map to at least one relative sector to the selected sector based at least in part on the estimated initial location estimate;

conducting a range scan at the relative sector to determine ranges and associated angles to objects; and

correlating the ranges and associated angles of the at least one adjacent sector conducted range scan with the ranges and associated angles in the selected section of the map.

14. The method of claim 11, further comprising,

moving to a subsequent location within the selected area;

conducting a subsequent range scan at the subsequent location to determine ranges and associated angles to objects;

selecting an appropriate section of the map of stored ranges and associated angles in the scene database; and

correlating the ranges and associated angles of the conducted subsequent range scan with the ranges and associated angles in the selected section of the map to determine at least one of current location and heading.

16. The device of claim 14, further comprising at least one of an inertial sensor, a heading sensor, a speed sensor, a global positioning sensor and an altimeter sensor.

18. The device of claim 14, wherein the ranging device is further configured to scan a subset of 360 degress.

19. The device of claim 14, wherein the ranging device is one of a laser ranger, a radar rangefinder, a stereo rangefinder, a 360 degree LIDAR and a flash LIDAR.

20. The device of claim 14, further wherein the scene database is further configured to store angles associated with areas of no return and the processor is adapted to use at least in part the stored angles of no return in determining locations.

15. A location determination device, the device comprising:

a ranging device configured to measure at least one of angles, ranges and attitude data with regards to objects;

a scene database configured to store the at least one of angles, ranges and attitude data with regard to objects to create a map having sections including information of at least one of the angles, ranges and attitude data with regards to objects; and

a correlation system, the correlation system including a processor configured to correlate at least one of then current measured angles, ranges and attitude data with regards to objects with the stored at least one of the angles, ranges and attitude data with regards to objects in at least one section of the map to determine at least one of location, heading and attitude.

17. The device of claim 15, wherein the correlation system further comprises:

a discriminator configured to output correlation data relating to measured and stored data; and

a normalization unit configured to adjust to the output from the discriminator to adjust for quality factors in the measured and stored data.

21. A method of determining a location within a select area, the method comprising:

storing data required to reconstruct angles associated with objects while initially traversing throughout the select area;

measuring then current angles with regard to the objects during a subsequent traversal throughout the select area;

correlating the then current angles with regards to the objects to reconstructed angles with regards to the objects from the stored data; and

determining at least one of then current location and heading estimates within the select area based at least in part on correlation results.

22. The method of claim 21, further comprising:

storing data required to reconstruct angles associated with no returns;

measuring then current angles with no returns; and

correlating the then current angles with no returns with reconstructed angles associated with no returns.