US 10,760,913 B2Granted

Determining and reducing inertial navigation system drift

AssigneeMotorola Solutions, Inc.

InventorsGabi Ofir, Mihael Bercovici, Eitan Koren

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Abstract

Systems and methods for determining and reducing drift in inertial navigation systems (INS). One method includes receiving images and drifted positions associated with a plurality of INS. The method includes detecting, from the plurality of images, a plurality of objects associated with the plurality of INS. The method includes determining, relative positions for the objects. The method includes generating a plurality of avatars, each having a virtual position, and associating each of the plurality of objects to one of the plurality of avatars. The method includes, for each of the INS, calculating a relative drift based on the relative position of the object and the drifted position of the INS. The method includes calculating a drift correction factor for at least one of the INS, and transmitting the drift correction factor to an electronic device associated with the INS.

Claims20

Dependent claims

An electronic computing device comprising:

a communication interface, and
an electronic processor coupled to the communication interface, and configured to:
receive, via the communication interface, a plurality of drifted positions, each associated with one of a plurality of inertial navigation systems;
receive, via the communication interface, a plurality of images, each associated with one of the plurality of inertial navigation systems;
receive, via the communication interface, a plurality of points of view, each associated with one of the plurality of images, wherein each point of view includes an indication of a direction a camera was pointing when the associated image was captured;
detect, from the plurality of images, a plurality of objects, each object associated with one of the plurality of inertial navigation systems;
determine a plurality of relative positions based on the plurality of images and the plurality of points of view, each of the relative positions associated with one of the plurality of objects;
generate a plurality of avatars, each associated with one of the plurality of inertial navigation systems and each having a virtual position based on the drifted position associated with the inertial navigation system;
associate each of the plurality of objects to one of the plurality of avatars;
for each of the plurality of inertial navigation systems, calculate a relative drift based on the relative position of the object associated with the inertial navigation system and the drifted position of the inertial navigation system;
for at least one of the plurality of inertial navigation systems, calculate a drift correction factor of the inertial navigation system based on the relative drift for the inertial navigation system;
and
transmit, via the communication interface, the drift correction factor to an electronic device associated with the inertial navigation system.

10 more elements

A method for determining and reducing drift in inertial navigation systems drift, the method comprising:

receiving, via a communication interface, a plurality of drifted positions, each associated with one of a plurality of inertial navigation systems;
receiving, via the communication interface, a plurality of images, each associated with one of the plurality of inertial navigation systems;
receiving, via the communication interface, a plurality of points of view, each associated with one of the plurality of images, wherein each point of view includes an indication of a direction a camera was pointing when the associated image was captured;
detecting, with an electronic processor, from the plurality of images, a plurality of objects, each object associated with one of the plurality of inertial navigation systems;
determining, with the electronic processor, a plurality of relative positions based on the plurality of images and the plurality of points of view, each of the relative positions associated with one of the plurality of objects;
generating a plurality of avatars, each associated with one of the plurality of inertial navigation systems and each having a virtual position based on the drifted position associated with the inertial navigation system;
associating each of the plurality of objects to one of the plurality of avatars;
for each of the plurality of inertial navigation systems, calculating, with the electronic processor, a relative drift based on the relative position of the object associated with the inertial navigation system and the drifted position of the inertial navigation system;
for at least one of the plurality of inertial navigation systems, calculating, with the electronic processor, a drift correction factor of the inertial navigation system;
and
transmitting, via the communication interface, the drift correction factor to an electronic device associated with the inertial navigation system.

8 more elements

A portable electronic device comprising:

an image capture device having a point of view,
an inertial navigation system,
a transceiver, and
an electronic processor coupled to the image capture device, the inertial navigation system, and the transceiver, and configured to
receive, via the inertial navigation system, a drifted position for the electronic device;
receive, via the image capture device, an image including a second electronic device;
send, via the transceiver, the image and the point of view to the second electronic device;
send, via the transceiver, the drifted position to the second electronic device;
receive, via the transceiver from the second electronic device, a first relative drift;
receive, via the transceiver from the second electronic device, a second drifted position from an inertial navigation system of the second electronic device;
detect an object associated with the second electronic device in the image;
determine a relative position for the object based on the image;
generate an avatar for the second electronic device based on the second drifted position;
associate the avatar to the object;
determine a second relative drift for the inertial navigation system of second electronic device based on the relative position and the second drifted position;
determine a drift correction factor for the inertial navigation system of the second electronic device based on the first relative drift and the second relative drift;
and
transmit, via the transceiver, the drift correction factor to the second electronic device.

15 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/901,077Filed 21 Feb 2018
Published: US 2019/0257657 A122 Aug 2019
Granted: 1 Sep 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G06F 3/011
Input arrangements or combined input and output arrangements for interaction between user and computer: arrangements for interaction with the…
G01C 21/183
By integrating acceleration or speed, i.e. inertial navigation: compensation of inertial measurements, e.g. for temperature effects
G01C 25/005
Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass: initial alignment,…
G06T 19/006
Manipulating three-dimensional [3D] models or images for computer graphics: mixed reality