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11. 发明申请

US20090238042A1 METHODS AND SYSTEMS FOR UNDERWATER NAVIGATION 有权
标题翻译：用于水下导航的方法和系统
公开(公告)号：US20090238042A1
公开(公告)日：2009-09-24
申请号：US12051740
申请日：2008-03-19
申请人： Wesley J. Hawkinson , Kevin Sweeney , Randolph G. Hartman
发明人： Wesley J. Hawkinson , Kevin Sweeney , Randolph G. Hartman
IPC分类号： G01S15/88 , G01S15/00
CPC分类号： G01S15/60 , G01C21/165 , G01S15/025 , G01S15/06 , Y02A90/36
摘要： A method for navigating underwater is disclosed. The method uses a navigation system to project a first velocity measurement along one or more signal beams having a second velocity measurement, where the second velocity measurement is related to at least one of the one or more signal beams. The method determines a position and location of an object associated with the navigation system based on a prediction of at least the second velocity measurement, and the navigation system is adjusted to perform within a prescribed measurement range based on a covariance of the first and second velocity measurements. The performance adjustments made in determining the position and location of the object are operable independent of the navigation system maintaining each of the signal beams due to one or more external environmental conditions.
摘要翻译：公开了一种导航水下的方法。该方法使用导航系统沿着具有第二速度测量的一个或多个信号波束投影第一速度测量，其中第二速度测量与一个或多个信号波束中的至少一个相关。该方法基于至少第二速度测量的预测来确定与导航系统相关联的对象的位置和位置，并且基于第一和第二速度的协方差来调整导航系统在规定的测量范围内执行测量。在确定物体的位置和位置时进行的性能调整可独立于由于一个或多个外部环境条件维持每个信号光束的导航系统而操作。

12. 发明授权

US08744763B2 Using structured light to update inertial navigation systems 失效
标题翻译：使用结构化的光线来更新惯性导航系统
公开(公告)号：US08744763B2
公开(公告)日：2014-06-03
申请号：US13298632
申请日：2011-11-17
申请人： Wesley J. Hawkinson , Wayne A. Soehren , Rida Hamza
发明人： Wesley J. Hawkinson , Wayne A. Soehren , Rida Hamza
IPC分类号： G01S1/00 , G01S5/02 , G06K9/00
CPC分类号： G01C21/165 , G01C25/005 , G06K9/0063
摘要： 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.
摘要翻译：导航系统包括主机和远程单元。主机单元包括定位设备，用于确定主机单元的绝对位置/方向; 第一通信设备通信信号; 第一处理器和第一个记忆。远程单元包括用于从第一通信设备接收信号的第二通信设备; 第二处理器和第二个记忆。第一或第二处理器将已知图案的第一方面与位于主机单元或远程单元的表面上的捕获图案的图像的第二方面进行比较。基于第一方面和第二方面的比较，第一或第二处理器确定远程单元相对于主机单元的相对位置/取向。第一或第二处理器基于远程单元相对于主机单元的相对位置/取向以及主机单元的绝对位置/方向确定远程单元的绝对位置/方向。主机单元的绝对位置/方向或远程单元的绝对位置/方向从主机单元传送到远程单元。

13. 发明授权

US08676498B2 Camera and inertial measurement unit integration with navigation data feedback for feature tracking 有权
标题翻译：相机和惯性测量单元集成导航数据反馈功能跟踪
公开(公告)号：US08676498B2
公开(公告)日：2014-03-18
申请号：US12889728
申请日：2010-09-24
申请人： Yunqian Ma , Wesley J. Hawkinson
发明人： Yunqian Ma , Wesley J. Hawkinson
IPC分类号： G01C21/10
CPC分类号： G01C21/165 , G01S5/16 , G05D1/0246 , G05D1/027
摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.
摘要翻译：本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

14. 发明申请

US20130131981A1 USING STRUCTURED LIGHT TO UPDATE INERTIAL NAVIGATION SYSTEMS 失效
标题翻译：使用结构化的光线更新惯性导航系统
公开(公告)号：US20130131981A1
公开(公告)日：2013-05-23
申请号：US13298632
申请日：2011-11-17
申请人： Wesley J. Hawkinson , Wayne A. Soehren , Rida Hamza
发明人： Wesley J. Hawkinson , Wayne A. Soehren , Rida Hamza
IPC分类号： G01C21/00 , G06K9/68
CPC分类号： G01C21/165 , G01C25/005 , G06K9/0063
摘要： 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.
摘要翻译：导航系统包括主机和远程单元。主机单元包括定位设备，用于确定主机单元的绝对位置/方向; 第一通信设备通信信号; 第一处理器和第一个记忆。远程单元包括用于从第一通信设备接收信号的第二通信设备; 第二处理器和第二个记忆。第一或第二处理器将已知图案的第一方面与位于主机单元或远程单元的表面上的捕获图案的图像的第二方面进行比较。基于第一方面和第二方面的比较，第一或第二处理器确定远程单元相对于主机单元的相对位置/取向。第一或第二处理器基于远程单元相对于主机单元的相对位置/取向以及主机单元的绝对位置/方向确定远程单元的绝对位置/方向。主机单元的绝对位置/方向或远程单元的绝对位置/方向从主机单元传送到远程单元。

15. 发明申请

US20120326918A1 MOTION-BASED ADAPTIVE FREQUENCY ESTIMATION OF A DOPPLER VELOCITY SENSOR 有权
标题翻译：多普勒速度传感器的基于运动的自适应频率估计
公开(公告)号：US20120326918A1
公开(公告)日：2012-12-27
申请号：US13164889
申请日：2011-06-21
申请人： Ryan Ingvalson , Robert C. McCroskey , Wesley J. Hawkinson
发明人： Ryan Ingvalson , Robert C. McCroskey , Wesley J. Hawkinson
IPC分类号： G01S13/58
CPC分类号： G01C21/10 , G01C21/165 , G01S13/60 , G01S13/86
摘要： A system and method for motion-based adaptive frequency estimation of a Doppler sensor is provided. The system comprises a Doppler sensor configured to output a digitized Doppler data signal, and a Doppler velocity estimation module operatively coupled to the Doppler sensor to receive the Doppler data signal. An inertial navigation system is operatively coupled to the Doppler velocity estimation module, and one or more inertial sensors is operatively coupled to the inertial navigation system. The inertial sensors are configured to transmit inertial navigation data to the inertial navigation system. The Doppler velocity estimation module calculates a speed or velocity estimate based on the Doppler data signal and the inertial navigation data. The speed or velocity estimate is then transmitted to the inertial navigation system.
摘要翻译：提供了一种用于多普勒传感器的基于运动的自适应频率估计的系统和方法。该系统包括被配置为输出数字化多普勒数据信号的多普勒传感器和可操作地耦合到多普勒传感器以接收多普勒数据信号的多普勒速度估计模块。惯性导航系统可操作地耦合到多普勒速度估计模块，并且一个或多个惯性传感器可操作地耦合到惯性导航系统。惯性传感器被配置成将惯性导航数据传送到惯性导航系统。多普勒速度估计模块基于多普勒数据信号和惯性导航数据来计算速度或速度估计。然后将速度或速度估计值传输到惯性导航系统。

16. 发明申请

US20120150441A1 SYSTEMS AND METHODS FOR NAVIGATION USING CROSS CORRELATION ON EVIDENCE GRIDS 有权
标题翻译：使用证据网络的交叉关联进行导航的系统和方法
公开(公告)号：US20120150441A1
公开(公告)日：2012-06-14
申请号：US12963893
申请日：2010-12-09
申请人： Yunqian Ma , John B. McKitterick , Wesley J. Hawkinson
发明人： Yunqian Ma , John B. McKitterick , Wesley J. Hawkinson
IPC分类号： G01C21/16
CPC分类号： G01S5/0252 , G01S5/0263 , G01S5/16
摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.
摘要翻译：提供了在证据网格上使用互相关的导航系统和方法。在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 被配置为扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

17. 发明申请

US20120078510A1 CAMERA AND INERTIAL MEASUREMENT UNIT INTEGRATION WITH NAVIGATION DATA FEEDBACK FOR FEATURE TRACKING 有权
标题翻译：摄像机和惯性测量单元集成导航数据反馈功能跟踪
公开(公告)号：US20120078510A1
公开(公告)日：2012-03-29
申请号：US12889728
申请日：2010-09-24
申请人： Yunqian Ma , Wesley J. Hawkinson
发明人： Yunqian Ma , Wesley J. Hawkinson
IPC分类号： G01C21/16
CPC分类号： G01C21/165 , G01S5/16 , G05D1/0246 , G05D1/027
摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.
摘要翻译：本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

18. 发明授权

US07522090B2 Systems and methods for a terrain contour matching navigation system 有权
标题翻译：地形轮廓匹配导航系统和方法
公开(公告)号：US07522090B2
公开(公告)日：2009-04-21
申请号：US11554802
申请日：2006-10-31
申请人： Wesley J. Hawkinson
发明人： Wesley J. Hawkinson
IPC分类号： G01S13/00 , G01S7/40 , B29C45/00 , G06F19/00 , G06F7/00
CPC分类号： G01C21/165 , G01C21/005
摘要： Systems and methods for terrain contour matching navigation are provided. In one embodiment, a method for terrain contour matching navigation comprises: receiving at least one sample point representing the position of an aircraft, the at least one sample point including a horizontal position and an altitude sample; correlating a first sample point of the at least one sample point across a reference basket array having a plurality of elements; determining a correlation quality; when the correlation quality does not achieve a pre-determined quality threshold, performing at least one additional correlation of an additional sample point of the at least one sample point across the reference basket array; and when the correlation quality does achieve a pre-determined quality threshold, calculating a position error based on the correlating of the first sample point and any additional correlations of any additional sample points.
摘要翻译：提供了用于地形轮廓匹配导航的系统和方法。在一个实施例中，一种用于地形轮廓匹配导航的方法包括：接收表示飞机位置的至少一个采样点，所述至少一个采样点包括水平位置和高度采样; 将所述至少一个采样点的第一采样点与具有多个元件的参考筐阵列相关联; 确定相关质量; 当所述相关质量未达到预定质量阈值时，对所述参考篮阵列执行所述至少一个采样点的附加采样点的至少一个附加相关; 并且当相关质量确实达到预定质量阈值时，基于第一采样点与任何附加采样点的任何附加相关性来计算位置误差。

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