Hybrid sky and ground navigation for machine employing satellite positioning

A system comprising:

• one or more processors;
• and
• a computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
• capturing sensor data using one or more machine sensors of a mobile machine, wherein capturing the sensor data includes:
• capturing ground data using one or more ground sensors;
• capturing satellite data from one or more satellites;
• and
• capturing an image using an imaging device that is at least partially oriented toward the one or more satellites;
• calculating a set of ground scores for a set of ground positions surrounding the mobile machine, wherein each of the set of ground scores is indicative of an accessibility of one of the set of ground positions for the mobile machine;
• calculating a set of sky scores for the set of ground positions based on the satellite data and the image, wherein each of the set of sky scores is indicative of an accuracy of a satellite-based position at one of the set of ground positions;
• generating a path for the mobile machine to follow using the set of ground scores and the set of sky scores, wherein the path is generated such that each of the set of sky scores for ground positions along the path is greater than a first threshold and each of the set of ground scores for the ground positions along the path is greater than a second threshold;
• and
• modifying a navigation of the mobile machine using the path.

A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• capturing sensor data using one or more machine sensors of a mobile machine, wherein capturing the sensor data includes:
• capturing ground data using one or more ground sensors;
• capturing satellite data from one or more satellites;
• and
• capturing an image using an imaging device that is at least partially oriented toward the one or more satellites;
• calculating a set of ground scores for a set of ground positions surrounding the mobile machine, wherein each of the set of ground scores is indicative of an accessibility of one of the set of ground positions for the mobile machine;
• calculating a set of sky scores for the set of ground positions based on the satellite data and the image, wherein each of the set of sky scores is indicative of an accuracy of a satellite-based position at one of the set of ground positions;
• generating a path for the mobile machine to follow using the set of ground scores and the set of sky scores, wherein the path is generated such that each of the set of sky scores for ground positions along the path is greater than a first threshold and each of the set of ground scores for the ground positions along the path is greater than a second threshold;
• and
• modifying a navigation of the mobile machine using the path.