VISIBILITY EVENT NAVIGATION METHOD AND SYSTEM

• US 20160163205A1
• Filed: 02/16/2016
• Published: 06/09/2016
• Est. Priority Date: 06/30/2010
• Status: Active Grant

• Current Assignee: Primal Space Systems Inc.
• Original Assignee: Primal Space Systems Inc.
• Inventors: Jenkins, Barry L.
• Granted Patent: US 9,916,763 B2
• Time in Patent Office: Days
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G06T 15/40 Hidden part removal
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• CPC Class Codes: G08G 5/0056 in an emergency situation, e.g. hijacking
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H01L 2224/0345 Physical vapour deposition [PVD], e.g. evaporation, or sputtering
• CPC Class Codes: H01L 2224/03452 Chemical vapour deposition [CVD], e.g. laser CVD
• CPC Class Codes: H01L 2224/03462 Electroplating
• CPC Class Codes: H01L 2224/03464 Electroless plating
• CPC Class Codes: H01L 2224/0347 using a lift-off mask
• CPC Class Codes: H01L 2224/03912 the bump being used as a mask for patterning the bonding area
• CPC Class Codes: H01L 2224/0401 Bonding areas specifically adapted for bump connectors, e.g. under bump metallisation [UBM]
• CPC Class Codes: H01L 2224/05008 : Bonding area integrally formed with a redistribution layer on the semiconductor or solid-state body, e.g.
• CPC Class Codes: H01L 2224/05022 : the internal layer being at least partially embedded in the surface
• CPC Class Codes: H01L 2224/05027 : the internal layer extending out of an opening
• CPC Class Codes: H01L 2224/05124 : Aluminium [Al] as principal constituent
• CPC Class Codes: H01L 2224/05147 : Copper [Cu] as principal constituent
• CPC Class Codes: H01L 2224/05166 : Titanium [Ti] as principal constituent
• CPC Class Codes: H01L 2224/05186 : with a principal constituent of the material being a non metallic, non metalloid inorganic material
• CPC Class Codes: H01L 2224/05569 : the external layer being disposed on a redistribution layer on the semiconductor or solid-state body
• CPC Class Codes: H01L 2224/05583 : Three-layer coating
• CPC Class Codes: H01L 2224/05655 : Nickel [Ni] as principal constituent
• CPC Class Codes: H01L 2224/05681 : Tantalum [Ta] as principal constituent
• CPC Class Codes: H01L 2224/05686 : with a principal constituent of the material being a non metallic, non metalloid inorganic material
• CPC Class Codes: H01L 2224/11 : Manufacturing methods
• CPC Class Codes: H01L 2224/11334 : using preformed bumps
• CPC Class Codes: H01L 2224/13022 : the bump connector being at least partially embedded in the surface
• CPC Class Codes: H01L 2224/13024 : the bump connector being disposed on a redistribution layer on the semiconductor or solid-state body
• CPC Class Codes: H01L 2224/13111 : Tin [Sn] as principal constituent
• CPC Class Codes: H01L 2224/13113 : Bismuth [Bi] as principal constituent
• CPC Class Codes: H01L 2224/13116 : Lead [Pb] as principal constituent
• CPC Class Codes: H01L 2224/13139 : Silver [Ag] as principal constituent
• CPC Class Codes: H01L 2224/13147 : Copper [Cu] as principal constituent
• CPC Class Codes: H01L 2224/13155 : Nickel [Ni] as principal constituent
• CPC Class Codes: H01L 2224/13561 : On the entire surface of the core, i.e. integral coating
• CPC Class Codes: H01L 2224/13611 : Tin [Sn] as principal constituent
• CPC Class Codes: H01L 2224/13613 : Bismuth [Bi] as principal constituent
• CPC Class Codes: H01L 2224/13616 : Lead [Pb] as principal constituent
• CPC Class Codes: H01L 2224/13639 : Silver [Ag] as principal constituent
• CPC Class Codes: H01L 2224/13647 : Copper [Cu] as principal constituent
• CPC Class Codes: H01L 2224/13655 : Nickel [Ni] as principal constituent
• CPC Class Codes: H01L 2224/13681 : Tantalum [Ta] as principal constituent
• CPC Class Codes: H01L 2224/13686 : with a principal constituent of the material being a non metallic, non metalloid inorganic material
• CPC Class Codes: H01L 23/3114 : the device being a chip scale package, e.g. CSP
• CPC Class Codes: H01L 23/3157 : Partial encapsulation or coating mask layer used as insulation layer H01L21/31
• CPC Class Codes: H01L 24/03 : Manufacturing methods
• CPC Class Codes: H01L 24/05 : of an individual bonding area
• CPC Class Codes: H01L 24/11 : Manufacturing methods for bumps on insulating substrates H01L21/4853
• CPC Class Codes: H01L 24/13 : of an individual bump connector
• CPC Class Codes: H01L 2924/00 : Indexing scheme for arrangements or methods for connecting or disconnecting semiconductor or solid-state bodies as covered by H01L24/00
• CPC Class Codes: H01L 2924/00014 : the subject-matter covered by the group, the symbol of which is combined with the symbol of this group, being disclosed without further technical details
• CPC Class Codes: H01L 2924/01026 : Iron [Fe]
• CPC Class Codes: H01L 2924/01027 : Cobalt [Co]
• CPC Class Codes: H01L 2924/01028 : Nickel [Ni]
• CPC Class Codes: H01L 2924/01046 : Palladium [Pd]
• CPC Class Codes: H01L 2924/01047 : Silver [Ag]
• CPC Class Codes: H01L 2924/01079 : Gold [Au]
• CPC Class Codes: H01L 2924/014 : Solder alloys
• CPC Class Codes: H01L 2924/04941 : TiN
• CPC Class Codes: H01L 2924/04953 : TaN
• CPC Class Codes: H01L 2924/181 : Encapsulation

Abstract

A method of visibility event navigation includes receiving, via processing circuitry of a client device, a first visibility event packet from a server, the first visibility event packet including information representing 3D surface elements of an environmental model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a specified navigational route within a real environment modeled by the environmental model. The method also includes acquiring, surface information representing the visible surfaces of the real environment at a sensor and determining, a position in the real environment by matching the surface information to the visibility event packet information. The method further includes transmitting, the position from the client device to the server and receiving a second visibility event packet from the server if the at least one position is within the specified navigational route.

Claims

1. A method of visibility event navigation, including one or more visibility event packets located at a server, the one or more visibility event packets including visibility event packet information representing 3D surface elements of a geospatial model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

receiving, via processing circuitry of a client device, at least one visibility event packet of the one or more visibility event packets from the server;

detecting, via the circuitry, surface information representing one or more visible surfaces of the real environment at a sensor in communication with the client device;

calculating, via the circuitry, at least one position of the client device in the real environment by matching the surface information to the visibility event packet information corresponding to a first visibility event packet of the one or more visibility event packets;

transmitting, via the circuitry, the at least one position from the client device to the server; and

receiving, via the circuitry, at least one second visibility event packet of the one or more visibility event packets when the at least one position is within the navigational route at the client device from the server.

2. The method of claim 1, further comprising:

receiving, via the circuitry, at least one alternate visibility event packet of the one or more visibility event packets at the client device from the server, wherein the at least one alternate visibility event packet representing 3D surface elements of the geospatial model that are occluded from a third viewcell but not occluded from a fourth viewcell, the third and fourth viewcells representing spatial regions of a an alternate navigational route within a real environment modeled by the geospatial model, the alternate navigational route leading to a safe landing zone.

3. The method of claim 2, further comprising:

receiving, via the circuitry, a command for navigation to occur along the alternate navigational route at the client device from the server, when the at least one position is not within the navigational route.

4. The method of claim 2, further comprising:

receiving, via the circuitry, a command for navigation to occur along the alternate navigational route and the safe landing zone when the client fails to receive a signal from the server during a predetermined period of time.

5. The method of claim 2, wherein the client device includes a navigation system for at least one of an autonomous aircraft, a semiautonomous aircraft and a piloted aircraft.

6. The method of claim 5, wherein the safe landing zone includes a specific viewcell as a zone reachable by the autonomous aircraft in case of an engine failure while the autonomous aircraft is in the specific viewcell.

7. The method of claim 5, wherein the safe landing zone includes a specific viewcell as a zone reachable by the piloted aircraft in case of an engine failure while the piloted aircraft is in the specific viewcell.

8. The method of claim 1, further comprising:

detecting, via the circuitry, at least one moving object using the surface information and the visibility event packet information; and

transmitting, via the circuitry, information representing the location of the at least one moving object from the client device to the server.

9. The method of claim 1, wherein the real environment is an urban environment, and the geospatial model is a model of the urban environment.

10. The method of claim 1, wherein the real environment is and indoor environment, and the geospatial model is a model of the indoor environment.

11. The method of claim 1, wherein the client device includes a navigation system for at least one of an autonomous ground vehicle and a semiautonomous ground vehicle.

12. The method of claim 1, wherein the client device is a navigational system for a piloted aircraft and the visibility event packet include representations of obstacles hazardous to aviation.

13. The method of claim 1, further comprising:

receiving one or more visibility event packets when a request for the one or more visibility event packets is authenticated by the server.

14. A method of visibility event navigation, including one or more visibility event packets located at a server, including information representing 3D surface elements of a geospatial model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

prefetching, via processing circuitry of the server, a first visibility event packet of the one or more visibility event packets to a client device;

receiving, via the circuitry, at least one position of the client device in the real environment at the server; and

transmitting, via the circuitry, a second visibility event packet of the one or more visibility event packets to the client device when the at least one position is within the navigational route.

15. The method of claim 14, further comprising:

transmitting, via the circuitry, at least one alternate visibility event packet of the one or more visibility event packets from the server to the client, the at least one alternate visibility event packet representing 3D surface elements of the geospatial model that are occluded from a third viewcell but not occluded from a fourth viewcell, the third and fourth viewcells representing spatial regions of an alternate navigational route within a real environment modeled by the geospatial model, the alternate navigational route leading to a safe landing zone.

16. The method of claim 14, wherein the client device is a navigational system includes at least one of an autonomous aircraft and a semiautonomous aircraft.

17. The method of claim 16, further comprising:

receiving, via the circuitry, at least one object position in the real environment of a moving object at the server from the client device.

18. The method of claim 16, further comprising:

transmitting, via the circuitry, a command for navigation to occur along the alternate navigational route from the server to the client device, when the at least one position is not within the specified navigational route.

19. The method of claim 14, wherein the real environment is an urban environment, and the geospatial model is a model of the urban environment.

20. The method of claim 14, wherein the real environment is an indoor environment, and the geospatial model is a model of the indoor environment.

21. A method of visibility event navigation prefetch, including at least one partial visibility event packet including a subset of a complete visibility event packet, the complete visibility event packet including information representing 3D surface elements of a geospatial model occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

receiving, via processing circuitry of a server, information at the server from a client device representing an orientation of a sensor located at the client device, the sensor acquiring information representing the visible surfaces of the real environment; and

transmitting, via the circuitry, the at least one partial visibility event packet from the server to the client device, wherein the at least one partial visibility event packet intersects a maximal view frustum including a volume of space intersected by the view frustum of the sensor during movement of the client device in the second viewcell.

22. A method of visibility event navigation, including at least one partial visibility event packet located at a server, the at least one partial visibility event packet including a subset of a complete visibility event packet, the complete visibility event packet including visibility event packet information representing 3D surface elements of a geospatial model occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

transmitting, via processing circuitry of a client device, surface information from the client device to the server corresponding to the orientation of a sensor located at the client device, the surface information representing visible surfaces of the real environment; and

receiving, via the circuitry, the at least one partial visibility event packet at the client device from the server including a subset of the visibility event packet information that intersects a maximal view frustum, wherein the maximal view frustum includes a volume of space intersected by a view frustum of the sensor during movement of the client device in the second viewcell.

23. A method of visibility event navigation, including a first visibility event packet of one or more visibility event packets from a server, the one or more visibility event packets including visibility event packet information representing 3D surface elements of a geospatial model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

detecting, via processing circuitry of a first client device of a plurality of client devices, surface information representing visible surfaces of the real environment at a sensor in communication with the first client device of the plurality of client device;

calculating, via the circuitry, at least one position of the first client device of the plurality of client devices in the real environment by matching the surface information to the visibility event packet information;

transmitting, via the circuitry, the at least one position from the first client device of the plurality of client devices to the server;

receiving, via the circuitry, at least one second visibility event packet of the one or more visibility event packets at the first client device of the plurality of client devices from the server when the at least one position is within the navigational route;

detecting, via the circuitry, position information representing the position of at least one second client device of the one or more client devices in the real environment at the sensor; and

transmitting, via the circuitry, the position information from the first client device of the plurality of client devices to the server.

24. A method of visibility event navigation prefetch, including a first visibility event packet of one or more visibility event packets, the one or more visibility event packets including visibility event packet information representing 3D surface elements of a geospatial model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

receiving, via processing circuitry of a server, at least one position of a client device in the real environment at the server from the client device; and

transmitting, via the circuitry, a second visibility event packet of the one or more visibility event packets when the at least one position of the client device is within the navigational route and a fee has been paid by an operator of the client device.

25. A method of visibility event navigation, including one or more visibility event packets located at a server, the one or more visibility event packets including visibility event packet information representing 3D surface elements of a geospatial model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within a real environment modeled by the geospatial model, comprising:

receiving, via processing circuitry of a client device, at least one visibility event packet of the one or more visibility event packets from the server;

detecting, via processing circuitry of the client device, surface information representing one or more visible surfaces of the real environment at a sensor in communication with the client device;

calculating, via the circuitry, at least one position of the client device in the real environment by matching the surface information to the visibility event packet information corresponding to the first visibility event packet of the one or more visibility event packets;

transmitting, via the circuitry, the at least one position in the real environment from the client device to the server;

receiving, via the circuitry, at least one second visibility event packet from the server of the one or more visibility event packets at the client device from the server;

calculating, via the circuitry, at least one deviation of the ground-truth 3D structure from the corresponding environment modeled by the geospatial model using the surface information and the visibility event packet information; and

transmitting, via the circuitry, the at least one deviation from the client device to the server.

26. A visibility event navigation system, comprising:

a server;

at least one client device located in a real environment and in communication with the server, the at least one client device including processing circuitry configured to;

detect surface information representing one or more visible surfaces of the real environment at one or more sensors in communication with the at least one client device,

calculate at least one position of the at least one client device in the real environment by matching the surface information to visibility event packet information including a first visibility event packet of one or more visibility event packets representing 3D surface elements of a geospatial model that are occluded from a first viewcell and not occluded from a second viewcell, the first and second viewcells representing spatial regions of a navigational route within the real environment and modeled by the geospatial model,

transmit the at least one position of the client device to the server, and

receive a second visibility event packet of the one or more visibility event packets from the server when the at least one position is within the navigational route.