CA2893717A1 - Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement - Google Patents
Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement Download PDFInfo
- Publication number
- CA2893717A1 CA2893717A1 CA2893717A CA2893717A CA2893717A1 CA 2893717 A1 CA2893717 A1 CA 2893717A1 CA 2893717 A CA2893717 A CA 2893717A CA 2893717 A CA2893717 A CA 2893717A CA 2893717 A1 CA2893717 A1 CA 2893717A1
- Authority
- CA
- Canada
- Prior art keywords
- location information
- inertial
- gnss
- vision system
- vision
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012937 correction Methods 0.000 claims abstract description 32
- 230000003190 augmentative effect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 12
- 239000013598 vector Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003416 augmentation Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2893717A CA2893717C (fr) | 2015-06-03 | 2015-06-03 | Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2893717A CA2893717C (fr) | 2015-06-03 | 2015-06-03 | Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2893717A1 true CA2893717A1 (fr) | 2016-12-03 |
| CA2893717C CA2893717C (fr) | 2021-06-15 |
Family
ID=57406846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2893717A Active CA2893717C (fr) | 2015-06-03 | 2015-06-03 | Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2893717C (fr) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112256027A (zh) * | 2020-10-15 | 2021-01-22 | 珠海市一微半导体有限公司 | 一种机器人基于视觉角度纠正惯性角度的导航方法 |
| CN116540286A (zh) * | 2023-07-06 | 2023-08-04 | 中国科学院空天信息创新研究院 | 基于非完整性约束的多源鲁棒融合定位方法 |
-
2015
- 2015-06-03 CA CA2893717A patent/CA2893717C/fr active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112256027A (zh) * | 2020-10-15 | 2021-01-22 | 珠海市一微半导体有限公司 | 一种机器人基于视觉角度纠正惯性角度的导航方法 |
| CN112256027B (zh) * | 2020-10-15 | 2024-04-05 | 珠海一微半导体股份有限公司 | 一种机器人基于视觉角度纠正惯性角度的导航方法 |
| CN116540286A (zh) * | 2023-07-06 | 2023-08-04 | 中国科学院空天信息创新研究院 | 基于非完整性约束的多源鲁棒融合定位方法 |
| CN116540286B (zh) * | 2023-07-06 | 2023-08-29 | 中国科学院空天信息创新研究院 | 基于非完整性约束的多源鲁棒融合定位方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2893717C (fr) | 2021-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9411053B2 (en) | Method for using partially occluded images for navigation and positioning | |
| US9791575B2 (en) | GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter | |
| CN113783652B (zh) | 一种组合导航系统的数据同步方法和装置 | |
| EP2952930B1 (fr) | Système et procédé d'amélioration d'un système de navigation ins/gnss dans un environnement de port de chargement | |
| US8996311B1 (en) | Navigation system with rapid GNSS and inertial initialization | |
| US7839329B2 (en) | Positioning system and method thereof | |
| US20200292570A1 (en) | Positioning apparatus comprising an inertial sensor and inertial sensor temperature compensation method | |
| JP5270184B2 (ja) | 衛星航法／推測航法統合測位装置 | |
| CN111077549B (zh) | 位置数据修正方法、装置和计算机可读存储介质 | |
| US9182237B2 (en) | Navigation system with rapid GNSS and inertial initialization | |
| EP2972495B1 (fr) | Système et procédé d'augmentation de capacité d'un système de navigation gnss/ins d'un navire à faible dynamique au moyen d'un système de vision | |
| CN110100151A (zh) | 在视觉惯性测距中使用全球定位系统速度的系统及方法 | |
| CA2908754C (fr) | Systeme de navigation avec gnss rapide et initialisation inertielle | |
| CA2893717A1 (fr) | Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement | |
| Campo-Cossio et al. | Real-time attitude determination system based on GPS carrier phase measurements and aided by low-cost inertial sensors for high dynamic applications | |
| Kaniewski et al. | Positioning with AHRS/odometer/GPS system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20200526 |