WO2013188598A3 - Fusion of sensor and map data using constraint based optimization - Google Patents

Fusion of sensor and map data using constraint based optimization Download PDF

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Publication number
WO2013188598A3
WO2013188598A3 PCT/US2013/045522 US2013045522W WO2013188598A3 WO 2013188598 A3 WO2013188598 A3 WO 2013188598A3 US 2013045522 W US2013045522 W US 2013045522W WO 2013188598 A3 WO2013188598 A3 WO 2013188598A3
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WO
WIPO (PCT)
Prior art keywords
data
sensor
constraint
fusion
map data
Prior art date
Application number
PCT/US2013/045522
Other languages
French (fr)
Other versions
WO2013188598A2 (en
Inventor
Daniel Hakim
Christopher Giles
John KARVOUNIS
Benjamin E. Funk
Jared Napora
Carole Teolis
Original Assignee
Trx Systems, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trx Systems, Inc. filed Critical Trx Systems, Inc.
Publication of WO2013188598A2 publication Critical patent/WO2013188598A2/en
Publication of WO2013188598A3 publication Critical patent/WO2013188598A3/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/013—Identifying areas in a building
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.
PCT/US2013/045522 2012-06-12 2013-06-12 Fusion of sensor and map data using constraint based optimization WO2013188598A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261658883P 2012-06-12 2012-06-12
US61/658,883 2012-06-12

Publications (2)

Publication Number Publication Date
WO2013188598A2 WO2013188598A2 (en) 2013-12-19
WO2013188598A3 true WO2013188598A3 (en) 2015-06-25

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Family Applications (3)

Application Number Title Priority Date Filing Date
PCT/US2013/045522 WO2013188598A2 (en) 2012-06-12 2013-06-12 Fusion of sensor and map data using constraint based optimization
PCT/US2013/045519 WO2013188597A2 (en) 2012-06-12 2013-06-12 Irregular feature mapping
PCT/US2013/045488 WO2013188579A1 (en) 2012-06-12 2013-06-12 Wi-fi enhanced tracking algorithms

Family Applications After (2)

Application Number Title Priority Date Filing Date
PCT/US2013/045519 WO2013188597A2 (en) 2012-06-12 2013-06-12 Irregular feature mapping
PCT/US2013/045488 WO2013188579A1 (en) 2012-06-12 2013-06-12 Wi-fi enhanced tracking algorithms

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US (5) US9441973B2 (en)
WO (3) WO2013188598A2 (en)

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WO2013188598A2 (en) 2013-12-19
US20170363426A1 (en) 2017-12-21
US10571270B2 (en) 2020-02-25
US9441973B2 (en) 2016-09-13
US20170153111A1 (en) 2017-06-01
WO2013188597A3 (en) 2014-04-17
US9297658B2 (en) 2016-03-29
US20130332065A1 (en) 2013-12-12
US9778044B2 (en) 2017-10-03
US20150354965A1 (en) 2015-12-10

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