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1. 发明公开

EP2891899A1 Mathematically combining remote sensing data with different resolution to create 3D maps 审中-公开
标题翻译：具有不同分辨率的数学组合遥感数据以生成3D地图
公开(公告)号：EP2891899A1
公开(公告)日：2015-07-08
申请号：EP14189287.7
申请日：2014-10-16
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S13/86 , G01S13/93 , G01S17/93 , G01S7/295 , G01S17/89 , G01S13/89 , G01S5/02
CPC分类号： G01S13/89 , G01S5/0252 , G01S7/295 , G01S7/4808 , G01S13/865 , G01S13/9303 , G01S17/89 , G01S17/933
摘要： Data from remote sensing systems with different beamwidths can be combined in a mathematically correct way. One example method includes receiving, by one or more processors, a first data set corresponding to detection signals from a first sensing system over a first frame, wherein the spatial region is mathematically broken into one or more cells. The method also includes receiving a second data set corresponding to detection signals from a second sensing system over a second frame, wherein the second sensing system has a resolution different than the first sensing system. For each cell, numbers of times the cell has been seen or not-seen is determined. A probability that the cell is occupied is determined based on the number of times the cell has been seen or not-seen. A value of occupancy of the cell is determined from the probability that the cell is occupied.
摘要翻译：从遥感系统具有不同的射束宽度的数据可以在数学上正确的方式进行组合。一个实施例方法包括接收，由一个或多个处理器，一个第一数据集在第一帧从第一感测系统对应于检测信号，worin空间区域在数学上被分解成一个或多个小区。因此，该方法包括接收第二数据集上的第二帧从第二感测系统对应于检测信号，worin第二感测系统具有比所述第一感测系统的不同的分辨率。对于每个小区，次数的细胞已经看到或不可见是确定性的开采。概率没有被占用的细胞是确定的开采基础上的次小区已经看到，或没见过的数量。小区占用的价值确定性开采从几率所做的细胞被占用。

2. 发明授权

EP2397866B1 Systems and methods for using an evidence grid to eliminate ambiguities in an interferometric radar 有权转让
标题翻译：使用证据网格消除干涉雷达中的模糊的系统和方法
公开(公告)号：EP2397866B1
公开(公告)日：2017-09-13
申请号：EP11168969.1
申请日：2011-06-07
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S13/72
CPC分类号： G01S13/723 , G01S3/42 , G01S3/48 , G01S13/003 , G01S13/87 , G01S13/878 , G01S13/9023

3. 发明公开

EP2103957A1 Construction of evidence grid from multiple sensor measurements 有权
标题翻译： Erstellen eines Nachweisgitters aus mehreren Sensormessungen
公开(公告)号：EP2103957A1
公开(公告)日：2009-09-23
申请号：EP09153668.0
申请日：2009-02-25
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S13/72
CPC分类号： G01S13/723 , G01S13/878 , G01S13/9023
摘要： A system (400) includes at least one sensor device (410) configured to transmit a first detection signal over a first spatial region and a second detection signal over a second spatial region. The second region has a first sub-region in common with the first region. The system further includes a processing device (420) configured to assign a first occupancy value to a first cell in an evidence grid. The first cell represents the first sub-region, and the first occupancy value characterizes whether an object has been detected by the first detection signal as being present in the first sub-region. The processing device (420) is further configured to calculate, based on the first and second detection signals, the probability that the first occupancy value accurately characterizes the presence of the object in the first sub-region, and generate a data representation of the first sub-region based on the probability calculation.
摘要翻译：系统（400）包括至少一个传感器装置（410），其被配置为在第一空间区域上传输第一检测信号，并在第二空间区域上传输第二检测信号。第二区域具有与第一区域相同的第一子区域。该系统还包括处理设备（420），其被配置为将第一占用值分配给证据网格中的第一小区。第一单元表示第一子区域，第一占用值表征由第一检测信号检测出的物体是否存在于第一子区域中。所述处理装置（420）还被配置为基于所述第一和第二检测信号计算所述第一占用值准确地表征所述对象在所述第一子区域中的存在并且生成所述第一子区域的数据表示的概率基于概率计算的子区域。

4. 发明授权

EP2687817B1 Method of correlating images with terrain elevation maps for navigation 有权转让
公开(公告)号：EP2687817B1
公开(公告)日：2019-03-20
申请号：EP13174991.3
申请日：2013-07-03
申请人： Honeywell International Inc.
发明人： Mohr, Benjamin , Ma, Yunqian , Elgersma, Michael Ray , McKitterick, John B.
IPC分类号： G01C11/00 , G01C11/06 , G06T7/33 , G06T7/13

5. 发明公开

EP2687817A3 Method of correlating images with terrain elevation maps for navigation 有权转让
标题翻译：将图像与地形高程图相关联以进行导航的方法
公开(公告)号：EP2687817A3
公开(公告)日：2017-11-29
申请号：EP13174991.3
申请日：2013-07-03
申请人： Honeywell International Inc.
发明人： Mohr, Benjamin , Ma, Yunqian , Elgersma, Michael Ray , McKitterick, John B.
IPC分类号： G01C11/00
CPC分类号： G01C11/00 , G01C11/06 , G06T7/13 , G06T7/33 , G06T2207/10044 , G06T2207/30181
摘要： A method for navigation comprises constructing a current map that includes two-dimensional or three dimensional representations of an area, detecting one or more edge features on the current map, and generating a first fine-edge map based on the edge features. The method further comprises retrieving a historical map that includes two-dimensional or three dimensional representations of the area, detecting one or more edge features on the historical map, and generating a second fine-edge map based on the edge features. Thereafter, a coarse version of the current map is generated from the first fine-edge map, and a coarse version of the historical map is generated from the second fine-edge map. The coarse versions of the current and historical maps are then correlated to determine a first position and orientation. The first fine-edge map is then correlated with the second fine-edge map to determine a second, more accurate, position and orientation.
摘要翻译：一种用于导航的方法包括：构建包括区域的二维或三维表示的当前地图，在当前地图上检测一个或多个边缘特征，以及基于边缘特征生成第一精细边缘地图。该方法进一步包括检索包括区域的二维或三维表示的历史地图，在历史地图上检测一个或多个边缘特征，并且基于边缘特征生成第二细边图。之后，从第一精细边缘地图生成当前地图的粗略版本，并且从第二精细边缘地图生成粗略版本的历史地图。然后将当前和历史地图的粗略版本相关联以确定第一位置和方向。然后将第一精细边缘图与第二精细边缘图相关以确定更精确的第二位置和方向。

6. 发明授权

EP2103957B1 Construction of evidence grid from multiple sensor measurements 有权
标题翻译：创建多个传感器测量结果的的检测光栅
公开(公告)号：EP2103957B1
公开(公告)日：2013-07-03
申请号：EP09153668.0
申请日：2009-02-25
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S13/72
CPC分类号： G01S13/723 , G01S13/878 , G01S13/9023

7. 发明公开

EP1818687A1 Mapping system 审中-公开
标题翻译： Kartographiesystem
公开(公告)号：EP1818687A1
公开(公告)日：2007-08-15
申请号：EP07101871.7
申请日：2007-02-07
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S17/89 , G01C21/16 , G01C21/00
CPC分类号： G01S17/89 , G01C7/06 , G01C21/16 , G01C21/32 , G05D1/024 , G05D1/0255 , G05D1/027
摘要： Improved systems and methods for mapping are provided. In one embodiment, a system for mapping is provided. The system comprises a rangefinder adapted to output range measurements; an inertial sensor adapted to capture inertial measurements including inertial forces acting on the rangefinder and the attitude of the rangefinder; and a processor coupled the rangefinder and the inertial sensor and adapted to receive a set of range measurements from the rangefinder and inertial measurements from the inertial sensor. The processor is adapted to produce a virtual room reconstruction based on the set of range measurements from the rangefinder and inertial measurements from inertial sensor.
摘要翻译：提供了改进的映射系统和方法。在一个实施例中，提供了用于映射的系统。该系统包括适于输出测距范围的测距仪; 惯性传感器适于捕获惯性测量，包括作用在测距仪上的惯性力和测距仪的姿态; 以及耦合测距仪和惯性传感器并且适于从惯性传感器的测距仪和惯性测量值接收一组测距范围的处理器。处理器适于基于来自惯性传感器的测距仪和惯性测量值的一组范围测量值来产生虚拟房间重建。

8. 发明授权

EP2573582B1 Systems and methods for combining a priori data with sensor data 有权转让
标题翻译：为先验数据与传感器数据相结合的系统和方法
公开(公告)号：EP2573582B1
公开(公告)日：2016-11-23
申请号：EP12185090.3
申请日：2012-09-19
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S13/89 , G01C21/00 , G01S7/40
CPC分类号： G01S13/89 , G01C21/005 , G01S7/4004

9. 发明公开

EP2687817A2 Method of correlating images with terrain elevation maps for navigation 有权转让
标题翻译： Bildkorrelationsverfahren mitGeländeerhebungsdatenfürdie Navigation
公开(公告)号：EP2687817A2
公开(公告)日：2014-01-22
申请号：EP13174991.3
申请日：2013-07-03
申请人： Honeywell International Inc.
发明人： Mohr, Benjamin , Ma, Yunqian , Elgersma, Michael Ray , McKitterick, John B.
IPC分类号： G01C11/00
CPC分类号： G01C11/00 , G01C11/06 , G06T7/13 , G06T7/33 , G06T2207/10044 , G06T2207/30181
摘要： A method for navigation comprises constructing a current map that includes two-dimensional or three dimensional representations of an area, detecting one or more edge features on the current map, and generating a first fine-edge map based on the edge features. The method further comprises retrieving a historical map that includes two-dimensional or three dimensional representations of the area, detecting one or more edge features on the historical map, and generating a second fine-edge map based on the edge features. Thereafter, a coarse version of the current map is generated from the first fine-edge map, and a coarse version of the historical map is generated from the second fine-edge map. The coarse versions of the current and historical maps are then correlated to determine a first position and orientation. The first fine-edge map is then correlated with the second fine-edge map to determine a second, more accurate, position and orientation.
摘要翻译：一种用于导航的方法包括构建包括区域的二维或三维表示的当前图，检测当前地图上的一个或多个边缘特征，以及基于边缘特征生成第一细边图。该方法还包括检索包括该区域的二维或三维表示的历史地图，检测历史地图上的一个或多个边缘特征，以及基于边缘特征生成第二细边图。此后，从第一细边图生成当前地图的粗略版本，并且从第二细边图生成历史地图的粗略版本。然后将当前和历史地图的粗略版本相关联以确定第一位置和方向。然后将第一细边图与第二细边图相关，以确定第二，更精确的位置和取向。

10. 发明公开

EP2573582A1 Systems and methods for combining a priori data with sensor data 有权转让
标题翻译： Systeme und Verfahren zum Kombinieren von a-priori-Daten mit Sensordaten
公开(公告)号：EP2573582A1
公开(公告)日：2013-03-27
申请号：EP12185090.3
申请日：2012-09-19
申请人： Honeywell International Inc.
发明人： McKitterick, John B.
IPC分类号： G01S13/86 , G01S13/89
CPC分类号： G01S13/89 , G01C21/005 , G01S7/4004
摘要： Systems and method for improving the presentation of sensed data (e.g., radar) by including a priori data. The a priori data is recast as if it were the output of a sensor. This allows the inclusion of the a priori data into an evidence grid that is combined with data from multiple types of sensors (26). Before the sensor data is combined into the evidence grid, the sensor data is aligned with the a priori data using an optimization algorithm. The optimization algorithm provides an optimum probability of a match between the sensor data and the a priori data by adjusting position or attitude associated with the sensor device. This removes any navigational errors associated with the sensor device data.
摘要翻译：通过包括先验数据来改善感测数据（例如雷达）的呈现的系统和方法。先验数据重新转换为传感器的输出。这允许将先验数据包含在与来自多种类型的传感器（26）的数据组合的证据网格中。在将传感器数据组合到证据网格之前，传感器数据使用优化算法与先验数据对齐。优化算法通过调节与传感器装置相关联的位置或姿态，提供传感器数据与先验数据之间匹配的最佳概率。这将消除与传感器设备数据相关的任何导航错误。

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