专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

WO2005119178A1 IMAGE-AUGMENTED INERTIAL NAVIGATION SYSTEM (IAINS) AND METHOD 审中-公开
标题翻译：图像通用导航系统（IAINS）和方法
公开(公告)号：WO2005119178A1
公开(公告)日：2005-12-15
申请号：PCT/US2005/019411
申请日：2005-06-02
申请人： ATHENA TECHNOLOGIES, INC. , VOS, David, William , MOTAZED, Behnam , GALLET, Bart, Marcel, Odiel , GAVRILETS, Vladislav
发明人： VOS, David, William , MOTAZED, Behnam , GALLET, Bart, Marcel, Odiel , GAVRILETS, Vladislav
IPC分类号： G01C22/00
CPC分类号： G01C21/165 , G01C21/005 , G01S11/12
摘要： An image-augmented inertial navigation system (LAWS) mounted on a vehicle (10) includes an inertial navigation system (INS) configured to estimate a navigation state vector and an imager (12) configured to output pixel signals associated with terrain features passing through a field of view (x, y, z) of the imager. The system (IAINS) further includes a processing unit operatively connected to the inertial navigation system (INS) and the imager (12). The processing unit is configured to sense a distance from the imager to a centroid of one or more of the terrain features passing though a field of view of the imager for a given image frame associated with the feature pixel signals. The processing unit is also configured to track each terrain feature as the terrain features pass through the field of view of the imager. The processing unit is further configured to update the navigation state vector of the inertial navigation system (INS) based on calculated NED (North, East, Down) coordinates position information of the inertial navigation system (INS) relative to the tracked terrain features.
摘要翻译：安装在车辆（10）上的图像增强惯性导航系统（LAWS）包括被配置为估计导航状态矢量的惯性导航系统（INS）和被配置为输出与通过成像器的视场（x，y，z）。该系统（IAINS）还包括可操作地连接到惯性导航系统（INS）和成像器（12）的处理单元。处理单元被配置为感测通过成像器的视野的一个或多个地形特征的距离，用于与特征像素信号相关联的给定图像帧。处理单元还被配置为当地形特征通过成像器的视野时跟踪每个地形特征。处理单元还被配置为基于惯性导航系统（INS）相对于跟踪的地形特征的计算的NED（北，东，下）坐标位置信息来更新惯性导航系统（INS）的导航状态向量。

2. 发明申请

WO2005119178A8 IMAGE-AUGMENTED INERTIAL NAVIGATION SYSTEM (IAINS) AND METHOD 审中-公开
标题翻译：图像增强型惯导系统（IAINS）和方法
公开(公告)号：WO2005119178A8
公开(公告)日：2006-08-17
申请号：PCT/US2005019411
申请日：2005-06-02
申请人： ATHENA TECHNOLOGIES INC , VOS DAVID WILLIAM , MOTAZED BENHAM , GALLET BART MARCEL ODIEL , GAVRILETS VLADISLAV
发明人： VOS DAVID WILLIAM , MOTAZED BENHAM , GALLET BART MARCEL ODIEL , GAVRILETS VLADISLAV
IPC分类号： G01C22/00 , G01C21/00 , G01C21/16 , G01S11/12 , G01S13/00 , G05D1/00 , G06K9/00 , H04N7/18 , H04N17/00
CPC分类号： G01C21/165 , G01C21/005 , G01S11/12
摘要： An image-augmented inertial navigation system (LAWS) mounted on a vehicle (10) includes an inertial navigation system (INS) configured to estimate a navigation state vector and an imager (12) configured to output pixel signals associated with terrain features passing through a field of view (x, y, z) of the imager. The system (IAINS) further includes a processing unit operatively connected to the inertial navigation system (INS) and the imager (12). The processing unit is configured to sense a distance from the imager to a centroid of one or more of the terrain features passing though a field of view of the imager for a given image frame associated with the feature pixel signals. The processing unit is also configured to track each terrain feature as the terrain features pass through the field of view of the imager. The processing unit is further configured to update the navigation state vector of the inertial navigation system (INS) based on calculated NED (North, East, Down) coordinates position information of the inertial navigation system (INS) relative to the tracked terrain features.
摘要翻译：安装在车辆（10）上的图像增强惯性导航系统（LAWS）包括被配置为估计导航状态向量的惯性导航系统（INS）和被配置为输出与通过成像器的视场（x，y，z）。系统（IAINS）还包括可操作地连接到惯性导航系统（INS）和成像器（12）的处理单元。处理单元被配置为感测对于与特征像素信号相关联的给定图像帧，通过成像器的视场的一个或多个地形特征的距离。处理单元还被配置为当地形特征通过成像器的视场时跟踪每个地形特征。处理单元还被配置为基于惯性导航系统（INS）相对于跟踪的地形特征的计算的NED（北，东，下）坐标位置信息来更新惯性导航系统（INS）的导航状态向量。

3. 发明申请

WO2006071258A2 SYSTEMS AND METHODS FOR CONTROLLING DYNAMIC SYSTEMS 审中-公开
标题翻译：用于控制动态系统的系统和方法
公开(公告)号：WO2006071258A2
公开(公告)日：2006-07-06
申请号：PCT/US2005019434
申请日：2005-06-02
申请人： ATHENA TECHNOLOGIES INC , VOS DAVID WILLIAM , GAVRILETS VLADISLAV , PIEDMONTE MICHAEL DANIEL
发明人： VOS DAVID WILLIAM , GAVRILETS VLADISLAV , PIEDMONTE MICHAEL DANIEL
IPC分类号： G05D1/00
CPC分类号： G05D1/0816
摘要： A control system for controlling velocity and attitude of a dynamic system includes a velocity controller configured to receive a desired velocity command and output a velocity error in the form of Euler angle commands to an attitude controller system. The control system further includes an attitude controller system. The attitude controller system includes a converter configured to receive the Euler angle commands and output a desired quaternion based on the Euler angle commands. The attitude controller system further includes an attitude error generator configured to receive the desired quaternion and an estimated quaternion indicative of an estimated velocity and attitude of the dynamic system and to output attitude errors associated with the dynamic system. The attitude controller system also includes an attitude controller configured to receive the attitude errors and to output error commands to the dynamic system based on the attitude errors.
摘要翻译：用于控制动态系统的速度和姿态的控制系统包括：速度控制器，被配置为接收期望的速度命令，并以欧拉角度命令的形式将速度误差输出到姿态控制器系统。控制系统还包括姿态控制器系统。姿态控制器系统包括被配置为接收欧拉角度命令并基于欧拉角度命令输出期望的四元数的转换器。姿态控制器系统还包括姿态误差发生器，其被配置为接收期望的四元数，以及指示动态系统的估计速度和姿态以及输出与动态系统相关联的姿态误差的估计的四元数。姿态控制器系统还包括姿态控制器，其被配置为接收姿态误差，并且基于姿态误差向动态系统输出错误命令。

4. 发明申请

WO2005119387A3 SYSTEMS AND METHODS FOR ESTIMATING POSITION, ATTITUDE, AND/OR HEADING OF A VEHICLE 审中-公开
标题翻译：用于估计车辆的位置，姿态和/或起飞的系统和方法
公开(公告)号：WO2005119387A3
公开(公告)日：2006-06-08
申请号：PCT/US2005019435
申请日：2005-06-02
申请人： ATHENA TECHNOLOGIES INC , VOS DAVID WILLIAM , GAVRILETS VLADISLAV
发明人： VOS DAVID WILLIAM , GAVRILETS VLADISLAV
IPC分类号： G01C21/00 , G05D1/08
CPC分类号： G05D1/0825 , G01C21/165
摘要： A system for estimating at least one of position, attitude, and heading of a vehicle is disclosed. The system includes at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle and at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle. The system further includes a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle. The system also includes a sensor configured to output a signal indicative of vehicle altitude and a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle. The system further includes a device configured to receive the signals and estimate at least of one of position, attitude, and heading of the vehicle.
摘要翻译：公开了一种用于估计车辆的位置，姿态和航向中的至少一个的系统。该系统包括至少三个陀螺仪，其被配置为输出指示围绕车辆的三个相互正交的轴线的惯性角速度的信号，以及配置为输出指示沿着车辆的三个相互正交的轴线的加速度的信号的至少三个加速度计。该系统还包括三轴磁力计，其被配置为输出指示车辆的三个相互正交的轴上的环境磁场的投影的信号。该系统还包括被配置为输出指示车辆高度的信号的传感器和配置成输出指示车辆空速的信号的差压传感器。该系统还包括被配置为接收信号并且估计车辆的位置，姿态和航向中的至少一个的装置。

5. 发明申请

WO2006071258A3 SYSTEMS AND METHODS FOR CONTROLLING DYNAMIC SYSTEMS 审中-公开
公开(公告)号：WO2006071258A3
公开(公告)日：2006-07-06
申请号：PCT/US2005/019434
申请日：2005-06-02
申请人： ATHENA TECHNOLOGIES, INC. , VOS, David, William , GAVRILETS, Vladislav , PIEDMONTE, Michael, Daniel
发明人： VOS, David, William , GAVRILETS, Vladislav , PIEDMONTE, Michael, Daniel
IPC分类号： G06F19/00 , G06F17/16 , G05D1/08
摘要： A control system (12) for controlling velocity and attitude of a dynamic system (20) includes a velocity controller configured to receive a desired velocity command and output a velocity error in the form of Euler angle commands to an attitude controller system. The attitude controller system includes a converter (14) configured to receive the Euler angle commands and output a desired quaternion based on the Euler angle commands. The attitude controller system further includes an attitude error generator (16) configured to receive the desired quaternion and an estimated quaternion indicative of an estimated velocity and attitude of the dynamic system (20) and to output attitude errors associated with the dynamic system (20). The attitude controller system also includes an attitude controller (18) configured to receive the attitude errors and to output error commands to the dynamic system (20) based on the attitude errors.

6. 发明申请

WO2005119387A2 SYSTEMS AND METHODS FOR ESTIMATING POSITION, ATTITUDE, AND/OR HEADING OF A VEHICLE 审中-公开
标题翻译：用于估计车辆的位置，姿态和/或头部的系统和方法
公开(公告)号：WO2005119387A2
公开(公告)日：2005-12-15
申请号：PCT/US2005/019435
申请日：2005-06-02
申请人： ATHENA TECHNOLOGIES, INC. , VOS, David, William , GAVRILETS, Vladislav
发明人： VOS, David, William , GAVRILETS, Vladislav
IPC分类号： G05D1/08
CPC分类号： G05D1/0825 , G01C21/165
摘要： A system for estimating at least one of position, attitude, and heading of a vehicle is disclosed. The system includes at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle and at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle. The system further includes a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle. The system also includes a sensor configured to output a signal indicative of vehicle altitude and a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle. The system further includes a device configured to receive the signals and estimate at least of one of position, attitude, and heading of the vehicle.
摘要翻译：公开了一种用于估计车辆的位置，姿态和方位中的至少一个的系统。该系统包括至少三个陀螺仪，其被配置为输出指示围绕车辆的三个相互正交轴线的惯性角速率的信号，以及配置为输出指示沿着车辆的三个相互正交轴线的加速度的信号的至少三个加速度计。该系统还包括三轴磁力计，其被配置为输出指示车辆的三个相互正交的轴上的环境磁场的投影的信号。该系统还包括被配置为输出指示车辆高度的信号的传感器和配置成输出指示车辆的空速的信号的差压传感器。该系统还包括被配置为接收信号并估计车辆的位置，姿态和航向中的至少一个的装置。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式