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1. WO2007140155 - BEACON-AUGMENTED POSE ESTIMATION

Publication Number WO/2007/140155
Publication Date 06.12.2007
International Application No. PCT/US2007/069337
International Filing Date 21.05.2007
IPC
G01C 21/00 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
CPC
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G01C 21/20
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
20Instruments for performing navigational calculations
G01S 19/18
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
13Receivers
14specially adapted for specific applications
18Military applications
G01S 5/16
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
5Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
16using electromagnetic waves other than radio waves
Applicants
  • RAYTHEON COMPANY [US]/[US] (AllExceptUS)
  • LEONARD, Jon, N. [US]/[US] (UsOnly)
  • NEELY, Howard, E. [US]/[US] (UsOnly)
  • AZUMA, Ronald, T. [US]/[US] (UsOnly)
  • DAILY, Michael, J. [US]/[US] (UsOnly)
Inventors
  • LEONARD, Jon, N.
  • NEELY, Howard, E.
  • AZUMA, Ronald, T.
  • DAILY, Michael, J.
Agents
  • NOBLITT, Daniel, J.
Priority Data
11/420,07924.05.2006US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) BEACON-AUGMENTED POSE ESTIMATION
(FR) ESTIMATION DE POSES AMÉLIORÉE PAR BALISES
Abstract
(EN)
A beacon-augmented pose estimation system includes positionable beacons that can determine their own 3-D geospatial coordinates and transmit those coordinates back to the pose object. An imaging sensor images the field-of-view of the pose object to provide 2-D image coordinates for any of the beacons in the FOV. A pose object controller processes the sets of 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object. The positionable beacons may include both static beacons that are pre-positioned and mobile beacons that are command-guided to position themselves in the pose object's likely or actual FOV.
(FR)
La présente invention concerne un système d'estimation amélioré par des balises comportant des balises aptes à être positionnées pouvant déterminer des coordonnées géospatiales en trois dimensions et retransmettre ces coordonnées vers l'objet de pose. Un capteur d'imagerie effectue des prises de vues du champ de l'objet de pose pour fournir des coordonnées d'image en deux dimension pour une quelconque des balises dans le champ. Un contrôleur d'objet de pose traite les ensembles de coordonnées géospatiales en trois dimensions et des coordonnées d'image en deux dimensions pour affiner une estimation de pose de l'objet de pose. Les balises aptes à être positionnées peuvent comprendre à la fois des balises statiques qui sont préalablement positionnées et des balises mobiles qui sont guidées par commande pour être positionnées dans le champ réel ou probable de l'objet de pose.
Also published as
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