Using structured light to update inertial navigation systems

• US 8,744,763 B2
• Filed: 11/17/2011
• Issued: 06/03/2014
• Est. Priority Date: 11/17/2011
• Status: Expired due to Fees

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hawkinson, Wesley J., Soehren, Wayne A., Hamza, Rida
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): SCHNEIDER, PAULA LYNN
• Application Number:
  US13/298,632
• Publication Number:
  US 20130131981A1
• Time in Patent Office: 929 Days
• Field of Search: 382/103, 701/200, 701/400, 701/468, 345/166
• US Class Current: 701/468
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G06V 20/13 Satellite images

Abstract

A navigation system includes host and remote units. Host unit includes positioning device to determine absolute position/orientation of host unit; first communication device to communicate signals; first processor; and first memory. Remote unit includes second communication device to receive signals from first communication device; second processor; and second memory. First or second processor compares first aspects of known pattern with second aspects of image of captured pattern positioned on surface at either host unit or remote unit. First or second processor determines relative position/orientation of remote unit relative to host unit based on comparison of first aspects and second aspects. First or second processor determines absolute position/orientation of remote unit based on relative position/orientation of remote unit relative to host unit and absolute position/orientation of host unit. Either absolute position/orientation of host unit or absolute position/orientation of remote unit are communicated from host unit to remote unit.

Claims

1. A navigation system comprising:

a host unit having;

a positioning device that determines at least one of a first absolute position and a first absolute orientation of the host unit;

a first communication device that communicates signals;

a first processor; and

a first memory;

a remote unit having;

a second communication device that receives the signals from the first communication device;

a second processor; and

a second memory;

wherein at least one of the first processor and the second processor compares first aspects of a known pattern with second aspects of an image of a captured pattern positioned on a surface at at least one of the host unit and the remote unit;

wherein at least one of the first processor and the second processor determines at least one of a relative position and a relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects;

wherein at least one of the first processor and the second processor determines at least one of;

a second absolute position of the remote unit based on the first absolute position and the relative position; and

a second absolute orientation of the remote unit based on the first absolute orientation and the relative orientation; and

wherein the signals include data selected from the group consisting of the first absolute position, the first absolute orientation, the relative position, the relative orientation, the second absolute position, and the second absolute orientation, wherein the data is communicated from the host unit to the remote unit using the first communication device and the second communication device.

2. The navigation system of claim 1, wherein the captured pattern is a structured light pattern.

3. The navigation system of claim 1, wherein at least one of the host unit and the remote unit further comprises an illumination source that projects the captured pattern onto the surface;

wherein the illumination source is positioned at the remote unit when the surface is positioned at the host unit; and

wherein the illumination source is positioned at the host unit when the surface is positioned at the remote unit.

4. The navigation system of claim 3, wherein the light source is at least one of an infrared light source and a visible light source.

5. The navigation system of claim 1, wherein the remote unit was previously positioned at the at least one of the first absolute position and the first absolute orientation;

wherein the at least one of the first absolute position and the first absolute orientation were previously calculated for the remote unit; and

wherein the host unit was repositioned to the at least one of the first absolute position and the first absolute orientation in place of the remote unit.

6. The navigation system of claim 1, wherein the known pattern is associated with at least one of a distance and an angle of rotation;

and

wherein at least one of the first processor and the second processor compares the first aspects of the known pattern with second aspects of the image of the captured pattern by determining whether the image of the captured pattern matches the known pattern within a threshold; and

wherein when the image of the captured pattern matches the known pattern within the threshold, using the at least one of the distance and the angle of rotation to determine the at least one of the relative position and the relative orientation.

7. The navigation system of claim 1, further comprising:

wherein the host unit further includes;

the surface;

wherein the remote unit further includes;

an image sensor that captures the image of the captured pattern positioned on the surface at the host unit;

wherein the signals communicated from the first communication device at the host unit to the second communication device at the remote unit include at least one of the first absolute position and the first absolute orientation of the host unit; and

wherein the second processor;

compares the first aspects of the known pattern with the second aspects of the image of the captured pattern positioned on the surface at the host unit;

determines at least one of the relative position and the relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects; and

determines at least one of;

the second absolute position of the remote unit based on the relative position of the remote unit relative to the host unit and the first absolute position of the host unit; and

the second absolute orientation of the remote unit based on the relative orientation of the remote unit relative to the host unit and the first absolute orientation of the host unit.

8. The navigation system of claim 1, further comprising:

wherein the remote unit further includes;

the surface;

wherein the host unit further includes;

an image sensor that captures the image of the captured pattern positioned on the surface at the remote unit;

wherein the signals communicated from the first communication device at the host unit to the second communication device at the remote unit include at least one of the second absolute position and the second absolute orientation of the remote unit; and

wherein the first processor;

compares the first aspects of the known pattern with the second aspects of the image of the captured pattern positioned on the surface at the remote unit;

determines at least one of the relative position and the relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects; and

determines at least one of;

the second absolute position of the remote unit based on the relative position of the remote unit relative to the host unit and the first absolute position of the host unit; and

the second absolute orientation of the remote unit based on the relative orientation of the remote unit relative to the host unit and the first absolute orientation of the host unit.

9. The navigation system of claim 1, further comprising:

wherein the remote unit further includes;

the surface;

wherein the host unit further includes;

an image sensor that captures the image of the captured pattern positioned on the surface at the remote unit;

wherein the signals communicated from the first communication device at the host unit to the second communication device at the remote unit include at least one of the relative position and the relative orientation of the remote unit relative to the host unit;

wherein the first processor;

compares the first aspects of the known pattern with the second aspects of the image of the captured pattern positioned on the surface at the remote unit; and

determines at least one of the relative position and the relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects; and

wherein the second processor;

determines at least one of;

the second absolute position of the remote unit based on the relative position of the remote unit relative to the host unit and the first absolute position of the host unit; and

the second absolute orientation of the remote unit based on the relative orientation of the remote unit relative to the host unit and the first absolute orientation of the host unit.

10. The navigation system of claim 1, wherein the positioning device includes a satellite navigation system receiver through which satellite navigation signals are received from at least one satellite.

11. The navigation system of claim 1, wherein at least one of the host unit and the remote unit is attached to at least one of a vehicle, a moving object, a stationary object, a structure, and a person.

12. A method comprising:

capturing an image of a pattern from a surface at an imaging device, wherein one of the imaging device and the pattern is positioned at a host unit and the other is positioned at a remote unit, the host unit and the remote unit including at least one processor;

comparing first aspects of the image of the pattern with second aspects of a predetermined pattern using the at least one processor;

determining at least one of a relative position and a relative orientation of the remote unit relative to the host unit based on the comparison of the first aspects and the second aspects using the at least one processor;

receiving at least one of a first absolute position and a first absolute orientation of the host unit at the at least one processor;

determining at least one of;

a second absolute position of the remote unit based on the relative position of the remote unit relative to the host unit and the first absolute position of the host unit using the at least one processor; and

a second absolute orientation of the remote unit based on the relative orientation of the remote unit relative to the host unit and the first absolute orientation of the host unit using the at least one processor; and

communicating data from the host unit to the remote unit, the data selected from the group consisting of the first absolute position, the first absolute orientation, the relative position, the relative orientation, the second absolute position, and the second absolute orientation.

13. The method of claim 12, wherein capturing the image of the pattern from the surface occurs at the remote unit;

wherein determining at least one of a relative position and a relative orientation occurs at the remote unit; and

wherein determining at least one of a second absolute position and a second absolute orientation occurs at the remote unit.

14. The method of claim 12, further comprising:

projecting the pattern onto the surface; and

wherein the projected pattern is a structured light pattern.

15. The method of claim 14, wherein the pattern is projected from the remote unit onto the surface at the host unit;

wherein capturing the image of the pattern from the surface occurs at the remote unit;

wherein determining at least one of a relative position and a relative orientation occurs at the remote unit; and

wherein determining at least one of a second absolute position and a second absolute orientation occurs at the remote unit.

16. A system comprising:

an image sensor configured to capture an image of a pattern positioned on a remote surface, wherein the remote surface is positioned at a device remote to the system;

a processor configured to;

receive at least one of a first absolute position and a first absolute orientation of the system;

compare first aspects of the image of the pattern with second aspects of a predetermined pattern; and

determine at least one of a relative position and a relative orientation of the system relative to the remote surface based on the comparison of the first aspects and the second aspects;

a communication device configured to at least one of;

receive at least one of the first absolute position and the first absolute orientation from the device remote to the system;

receive at least one of the relative position and the relative orientation of the system relative to the remote surface from the device remote to the system;

transmit at least one of the relative position and the relative orientation of the system relative to the remote surface to the device remote to the system; and

transmit at least one of a second absolute position and a second absolute orientation of the remote surface to the device remote to the system; and

wherein at least one of;

the second absolute position of the remote surface is determined based on the relative position of the system relative to the remote surface and the first absolute position of the remote surface; and

the second absolute orientation of the remote surface is determined based on the relative orientation of the system relative to the remote surface and the first absolute orientation of the remote surface.

17. The system of claim 16, wherein the system is a remote unit;

wherein the device remote to the system is a host unit;

wherein the remote surface is positioned at the host unit;

wherein the communication device is configured to receive at least one of the first absolute position and the first absolute orientation from the host unit; and

wherein the processor is further configured to determine at least one of;

the second absolute position of the remote surface based on the relative position of the system relative to the remote surface and the first absolute position of the system; and

the second absolute orientation of the remote surface based on the relative orientation of the system relative to the remote surface and the first absolute orientation of the system.

18. The system of claim 16, wherein the system is a host unit;

wherein the device remote to the system is a remote unit;

wherein the remote surface is positioned at the remote unit;

wherein the communication device is configured to transmit at least one of the second absolute position and the second absolute orientation to the remote unit; and

wherein the processor is further configured to determine at least one of;

the second absolute position of the remote surface based on the relative position of the system relative to the remote surface and the first absolute position of the system; and

the second absolute orientation of the remote surface based on the relative orientation of the system relative to the remote surface and the first absolute orientation of the system.

19. The system of claim 16, wherein the system is a host unit;

wherein the device remote to the system is a remote unit;

wherein the remote surface is positioned at the remote unit;

wherein the communication device is configured to transmit at least one of the relative position and the relative orientation of the system relative to the remote surface to the remote unit;

wherein the communication device is further configured to transmit at least one of the first absolute position and the first absolute orientation to the remote unit; and

wherein determining the at least one of the second absolute position and the second absolute orientation of the remote surface occurs at a second processor positioned at the remote unit.

20. The system of claim 16, wherein the system further includes a first illumination source configured to project the pattern onto the remote surface as a structured light pattern.