US 10,883,829 B2 · Systems and methods for GNSS SNR probabilistic localization and 3-D mapping

Abstract

Various embodiments each include at least one of systems, methods, devices, and software for GNSS simultaneous localization and mapping (SLAM). The disclosed techniques demonstrate that simultaneous localization and mapping (SLAM) can be performed using only GNSS SNR and geo-location data, collectively termed GNSS data henceforth. A principled Bayesian approach for doing so is disclosed. A 3-D environment map is decomposed into a grid of binary-state cells (occupancy grid) and the receiver locations are approximated by sets of particles. Using a large number of sparsely sampled GNSS SNR measurements and receiver/satellite coordinates (all available from off-the-shelf GNSS receivers), likelihoods of blockage are associated with every receiver-to-satellite beam. Loopy Belief Propagation is used to estimate the probabilities of each cell being occupied or empty, along with the probability of the particles for each receiver location.

Claims16

Dependent claims

A probabilistic global navigation satellite system (GNSS) method, the method comprising:

receiving an input GNSS data from one or more GNSS data devices;
constructing a Bayesian network factor graph including a plurality of Bayesian network factor graph nodes, wherein constructing the Bayesian network factor graph includes sampling multiple particles representing possible GNSS data device positions and ray-tracing multiple rays through multiple voxels within a volumetric map, each of the plurality of rays representing a GNSS satellite ray from a GNSS receiver position to each of a plurality of GNSS satellites;
and
determining an improved position estimate for each of the one or more GNSS data devices by applying Bayesian shadow matching, which includes applying a particle filter to generate an improved position estimate for each of the one or more GNSS data devices.

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Dependencies are inferred from the claim text.

Systems and methods for GNSS SNR probabilistic localization and 3-D mapping

Life of this patent

Systems and methods for GNSS SNR probabilistic localization and 3-D mapping

Life of this patent

Abstract

Claims16