Navigation system with rapid GNSS and inertial initialization

• US 8,996,311 B1
• Filed: 12/06/2013
• Issued: 03/31/2015
• Est. Priority Date: 12/06/2013
• Status: Active Grant

• Current Assignee: Novatel Incorporated (Hexagon AB)
• Original Assignee: Novatel Incorporated (Hexagon AB)
• Inventors: Morin, Kristian, Bobye, Michael, Kennedy, Sandy
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US14/098,620
• Time in Patent Office: 480 Days
• Field of Search: 701/300, 701/468, 701/469, 701/472, 701/479, 701/480, 703/2, 702150-153, 348/113, 348/118, 342/357.73, 342/357.62, 342/357.39, 342/357.34, 342/357.3
• US Class Current: 701/480
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/185 for gravity
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/23 Testing, monitoring, correcting or calibrating of receiver elements
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06F 17/13 Differential equations using digital differential analysers G06F7/64
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A navigation system for use with moving vehicles includes target points proximate to a rendezvous site located on a first moving vehicle. One or more transmitters associated with the target points broadcast time-tagged target point positioning information. A navigation unit on a second moving vehicle utilizes a camera with known properties to capture images that include the target points. The navigation unit processes the image that corresponds in time to the positioning information, to determine the relative position and orientation of the rendezvous site at the second vehicle. The navigation unit utilizes the relative position and orientation and an absolute position and orientation of the rendezvous site calculated from the target position information and calculates an absolute position and orientation corresponding to the second vehicle. The navigation unit then initializes its component inertial subsystem using a local position and orientation that are based on the calculated absolute position and orientation of the second vehicle.

Claims

1. An INS/GNSS navigation system comprising:

on a first moving vehicle

a constellation of target points proximate to a rendezvous site;

one or more transmitters that transmit target position information corresponding to the respective target points;

on a second moving vehicle

a camera with known properties;

a receiver that receives the transmitted target position information;

and

a navigation unit including

a camera image subsystem that determines calculated relative positions and orientations of the target points based on one or more camera images that include at least four of the target points,

a GNSS subsystem including a GNSS receiver,

an INS subsystem including an inertial measurement unit, and

one or more processors configured to calculate an absolute position and orientation corresponding to the second vehicle based on the calculated relative position of the rendezvous site and the received target position information, the one or more processors providing the calculated absolute position and orientation corresponding to the second vehicle to at least the INS subsystem;

the INS subsystem determining a local position and orientation for use in an initialization process based on the calculated absolute position and orientation corresponding to the second vehicle.

2. The INS/GNSS navigation system of claim 1, wherein the GNSS subsystem uses the received target position information to aid in initialization.

3. The INS/GNSS navigation system of claim 1, wherein the target points are distinguishable from one another in the camera images by one or more of shape, color, and markings.

4. The INS/GNSS navigation system of claim 1, wherein the target position information for a given target point includes global position, a target point identifier and a time tag.

5. The INS/GNSS navigation system of claim 4, wherein

the navigation unit time tags inertial measurements and the camera images, and

the one or more processors and the INS subsystem utilize position and orientation related information associated with corresponding time tags.

6. The INS/GNSS navigation system of claim 5, wherein the time tags are GNSS time.

7. The INS/GNSS navigation system of claim 1 wherein the INS subsystem sets up a Kalman filter and the Kalman filter utilizes update measurements associated with position and orientation information determined from multiple camera images.

8. The INS/GNSS navigation system of claim 7 wherein the camera image subsystem further determines locations of one or more features in the camera images to calculate camera image related observables from which updates to position, orientation or both are determined.

9. The INS/GNSS navigation system of claim 4 wherein a given target point is associated with a GNSS receiver that determines a GNSS position of the target point and a GNSS time tag.

10. The INS/GNSS navigation system of claim 1 wherein the constellation consists of at least four target points.

11. The INS/GNSS navigation system of claim 1 wherein the navigation unit provides navigation information to a steering device on the second vehicle.

12. The INS/GNSS navigation system of claim 1 wherein the navigation unit operates in steady state navigation mode with or without a GNSS position determined by the GNSS subsystem when the calculated absolute position and orientation corresponding to the second vehicle is determined using one or more of the camera images.

13. The INS/GNSS navigation system of claim 1 wherein the navigation unit translates the calculated absolute position and orientation corresponding to the second vehicle to a calculated inertial measurement unit position and orientation based on known relationships between the camera and the inertial measurement unit.

14. The INS/GNSS navigation system of claim 13 wherein the known relationships are lever arm and relative orientation.

15. The INS/GNSS navigation system of claim 7 wherein the INS subsystem utilizes attitude updates determined from the camera images to provide a direct observation of an attitude error state of the INS subsystem.

16. The INS/GNSS navigation system of claim 15 wherein the attitude updates determined from the camera images are utilized to separate INS subsystem sensor errors from the INS subsystem attitude errors.

17. The INS/GNSS navigation system of claim 16 wherein the INS subsystem utilizes the attitude updates determined from the camera images over multiple measurement cycles to reduce an associated variance.