Correlation position determination

• US 8,554,478 B2
• Filed: 02/23/2007
• Issued: 10/08/2013
• Est. Priority Date: 02/23/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G.
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US11/678,313
• Publication Number:
  US 20080208455A1
• Time in Patent Office: 2,419 Days
• Field of Search: 701/207, 701/3, 701/23, 701/25, 701/26, 701/28, 701/117, 701/120, 701/400, 701/408, 701/409, 701/445, 701/446, 701/447, 701/448, 701/450, 701/461, 701/467, 701/468, 701/469, 701/472, 701/494, 701/495, 701/514, 701/519, 701/521, 701/527, 701/540, 342/42, 342/46, 342/118, 342/147, 342/350, 342/357.2, 342/357.21, 342/357.22, 342/357.25, 342/450, 180/167, 180/168, 180/169, 340/935, 340/995.1, 340/995.19, 340/995.24, 340/995.25
• US Class Current: 701/514
• 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 use of correlation position determination, the method comprising:

identifying an initial location and heading of an operator-less vehicle in a select area, the operator-less vehicle including a ranging device and a processor;

conducting a 360°

range scan with the ranging device while the operator-less vehicle is initially traversing throughout the select area;

storing data from the range scan required to reconstruct ranges and associated angles to objects into a scene database wherein the range scan data is stored with respect to an earth reference heading at selected angular implements;

estimating an initial location of the operator-less vehicle—

ring a subsequent traversal of the select area;

measuring current ranges and associated angles to the objects with the ranging device during the subsequent traversal by the operator-less vehicle throughout the select area;

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

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

using the at least one of the 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 locations of the objects.

3. The method of claim 1, further comprising:

storing data required to reconstruct ranges and associated orientation angles of pitch, roll and yaw with regard to the objects while the operator-less vehicle is initially traversing throughout the select area;

measuring current ranges and associated orientation angles of pitch, roll and yaw with regard to the objects during the subsequent traversal of the operator-less vehicle throughout the select area;

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

determining a current three-dimensional location and attitude estimate within the select area based at least in part on the correlation results.

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

improving an accuracy of the current location estimate by processing a scan to estimate the location within one or more sectors of the select area.

5. The method of claim 1, further comprising:

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

6. The method of claim 1, wherein correlating the current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data is implemented by a discriminator.

7. The method of claim 6, further comprising:

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

8. The method of claim 4, further comprising:

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

9. A method of navigating with use of correlation position determination, the method comprising:

identifying an initial location and heading of an operator-less vehicle traversing a select area an initial time;

while traversing the select area the initial time, performing a 360°

range scan with a ranging device on the operator-less vehicle to determine 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 an initial location during a subsequent traversal of the operator-less vehicle through the select area;

conducting a range scan with the ranging device at the estimated initial 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 initial location;

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 using a processor; and

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

10. The method of claim 9, wherein 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 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 sector of the map; and

normalizing an output of the discriminator.

11. The method of claim 10, 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 current location;

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

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

12. The method of claim 9, further comprising:

moving to a subsequent location within the select area;

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

selecting an appropriate subsequent sector 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 subsequent sector of the map to determine at least one of current location and heading.

13. A navigation system for an operator-less vehicle, comprising:

a ranging device; and

a processor operatively coupled to the ranging device and configured to execute program instructions comprising;

identifying an initial location and heading of the operator-less vehicle in a select area;

conducting a 360°

range scan with the ranging device while the operator less vehicle is initially traversing throughout a select area;

storing data from the range scan required to reconstruct ranges and associated angles to objects into a scene database wherein the range scan data is stored with respect to an earth reference heading at selected angular implements;

estimating an initial location of the operator-less vehicle during a subsequent traversal of the select area;

measuring current ranges and associated angles to the objects with the ranging device during the subsequent traversal by the operator-less vehicle throughout the select area;

correlating the 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 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 current location and heading estimates for navigation.