Seamless sensory system

• US 6,876,945 B2
• Filed: 03/25/2003
• Issued: 04/05/2005
• Est. Priority Date: 03/25/2002
• Status: Expired due to Fees

• Current Assignee: Nicholas Jon Emord
• Original Assignee: Nicholas Jon Emord
• Inventors: Emord, Nicholas Jon
• Primary Examiner(s): Nghiem, Michael
• Assistant Examiner(s): Walling, Meagan S
• Application Number:
  US10/396,979
• Publication Number:
  US 20030182077A1
• Time in Patent Office: 742 Days
• Field of Search: 702/150, 702/93, 702/94, 702/95, 702/115, 702/116, 702/142
• US Class Current: 702/150
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The Seamless Sensory System (3S), the invention, integrates state-of-the-art sensor technology with modern software engineering practices to create seamless positioning. The invention can include the incorporation of GPS/Inertial Navigation/IR and other technologies into a handheld/man wearable/mounted system that will not be compromised in hostile environments. The invention continues accurate navigation in the absence of GPS satellite signals. The invention utilizes a “continuous calibration” Kalman Filter methodology and motion sensor(s) to maintain “GPS-like” accuracy after GPS signals are no longer available. A proprietary technology called an Ultrasonic Doppler Velocity Measurement (UVM) Sensor is the invention'"'"'s ‘key component’ to create “GPS like performance” under any GPS denied condition. Additional sensors are included to complete the picture of the local environment.

Claims

1. A user-worn or equipment mounted seamless positioning sensory system, comprising:

a computer processor;

a data repository operably connected to said processor to collect and seamlessly transfer real time data received into said data repository relative to geodetic position signals, velocity signals, acceleration signals and local Beyond Visual Spectrum (BVS) signals;

a suite of sensors connected to said data repository including a GPS receiver, an inertial measurement unit (IMU) and an acoustic ultrasonic Doppler measurement unit (UVM);

said GPS receiver providing accurate geodetic positioning signals, when available, to the data repository;

said IMU providing rotational velocity and linear acceleration signals to said data repository and said UVM providing true orthogonally compensated linear forward and backward velocity signals to the data repository which combine and are processed for enhanced accuracy through a Kalman filter of said system to provide GPS-like geodetic positioning signals when in a GPS denied local environment;

an array of environment sensors providing BVS signals to said data repository including thermal imaging signals, spectral and gamma imagery signals, radiation signals, infrared signals, chemical and biological signals;

a communications module connected to said data repository by a common data link providing voice and data transmission to and from a remote location;

a map database connected to said data repository, said processor and said display unit for observation on said display unit of stored outdoor areas;

a display unit for selective display of a map in said map database and signals received into said data repository;

said system being attachable to a lower torso area of a user or to external equipment to minimize extraneous dynamics of motion of said system whereby accuracy of said system is enhanced.

2. A user-worn or equipment mounted seamless positioning sensory system as set forth in claim 1 comprising:

a user-activated Zero Velocity Update (ZUPT) signal indicating to said Kalman filter that said system currently is substantially stationary and not experiencing any change in rotational velocity or in acceleration;

a user-activated Fixed Position Update signal providing to said Kalman filter a current accurate geodetic position including latitude, longitude and altitude of said system.

3. A user-worn or equipment mounted seamless positioning sensory system, comprising:

a computer processor;

a data repository operably connected to said processor to collect and seamlessly transfer real time data received into said data repository relative to geodetic position signals, velocity signals, acceleration signals and local Beyond Visual Spectrum (BVS) signals;

a suite of sensors connected to said data repository including a GPS receiver, an inertial measurement unit (IMU) and a substantially non-detectable acoustic ultrasonic Doppler measurement unit (UVM);

said GPS receiver providing accurate geodetic positioning signals, when available, to the data repository;

said IMU providing rotational velocity and linear acceleration signals to said data repository and said UVM providing net orthogonal linear forward and backward velocity signals to the data repository which combine and are processed for enhanced accuracy through a Kalman filter of said system to provide GPS-like geodetic positioning signals when in a GPS denied local environment;

an array of environment sensors providing BVS signals to said data repository including thermal imaging signals, spectral and gamma imagery signals, radiation signals, infrared signals, chemical and biological signals;

a communications module connected to said data repository by a common data link providing voice and data transmission to and from a remote location;

a map database connected to said data repository, said processor and said display unit for observation on said display unit of stored outdoor areas;

a display unit for selective display of maps in said map database and signals stored in said data repository;

said system being attachable to a lower torso area of a user or to external equipment to minimize extraneous dynamics of motion of said system.

4. A user-worn or equipment mounted seamless positioning sensory system as set forth in claim 3, comprising:

a user-activated Zero Velocity Update (ZUPT) signal indicating to said Kalman filter that said system currently is substantially stationary and not experiencing any change in rotational velocity or in acceleration;

a user-activated Fixed Position Update signal providing to said Kalman filter a current accurate geodetic position including latitude, longitude and altitude of said system.

5. A non-hand carryable user-worn or equipment mounted seamless positioning sensory system, comprising:

a computer processor;

a data repository operably connected to said processor to collect and seamlessly transfer real time data received into said data repository relative to geodetic position signals, velocity signals and acceleration signals;

a suite of sensors connected to said data repository including a GPS receiver, an inertial measurement unit (IMU) and an acoustic ultrasonic Doppler measurement unit (UVM);

said GPS receiver providing accurate geodetic positioning signals, when available, to the data repository;

said IMU providing rotational velocity and linear acceleration signals to said data repository and said UVM providing compensated orthogonal frame of reference linear forward and backward velocity signals to the data repository which combine and are processed for enhanced accuracy through a Kalman filter arrangement of said system to provide GPS-like geodetic positioning signals when in a GPS denied local environment;

a communications module connected to said data repository by a common data link providing voice and data transmission to and from a remote location;

a map database connected to said data repository, said processor and said display unit for observation on said display unit of stored outdoor areas;

a display unit for selective display of signals and information stored in said data repository;

said system being attachable to a lower torso area of a user or to external equipment to minimize extraneous dynamics of motion of said system;

a user-activated Zero Velocity Update (ZUPT) signal indicating to said Kalman filter that said system currently is substantially stationary and not experiencing any change in rotational velocity or in acceleration;

a user-activated Fixed Position Update signal indicating to said Kalman filter a current accurate position including latitude, longitude and attitude of said system.

6. A user-worn or equipment mounted seamless positioning sensory system, comprising:

a computer processor;

a data repository operably connected to said processor to collect and seamlessly transfer real time data received into said data repository relative to geodetic position signals, velocity signals, acceleration signals and local Beyond Visual Spectrum (BVS) signals;

a suite of sensors connected to said data repository including a GPS receiver, an inertial measurement unit (IMU) and an acoustic ultrasonic Doppler measurement unit (UVM);

said GPS receiver providing accurate geodetic positioning signals, when available, to the data repository;

said IMU providing rotational velocity and linear acceleration signals to said data repository and said UVM providing true orthogonally compensated linear forward and backward velocity signals to the data repository which combine and are processed for enhanced accuracy through a Kalman filter of said system to provide GPS-like geodetic positioning signals when in a GPS denied local environment;

an array of environment sensors providing BVS signals to said data repository including a thermal imaging sensor, a spectral sensor, a gamma imagery sensor, a radiation sensor, an infrared sensor, a chemical sensor, a biological sensor, and a video sensor;

a communications module connected to said data repository by a common data link providing voice and data transmission to and from a remote location;

a map database connected to said data repository, said processor and said display unit for observation on said display unit of stored outdoor areas;

a display unit for selective display of a map in said map database and signals received into said data repository;

said system being attachable to a lower torso area of a user or to external equipment to minimize extraneous dynamics of motion of said system whereby accuracy of said system is enhanced;

a user-activated Zero Velocity Update (ZUPT) signal indicating to said Kalman filter that said system currently is substantially stationary and not experiencing any change in rotational velocity or in acceleration;

a user-activated Fixed Position Update signal providing to said Kalman filter a current accurate geodetic position including latitude, longitude and altitude of said system.