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US 12,498,225 B2Granted
Chain
AssigneeGeorgia Tech Research Corporation
InventorsSamuel Shapero, Matthew Lashley, Daniel Levy, Mark H. Smith
Life of this patent
Estimating the term…
Abstract
A distributed control system and method for decentralized, collaborative platform navigation, routing, and/or control are disclosed employing a distributed, factorized positioning, navigation, and timing chain that can link platforms or nodes having local sensors together by their local inertial and ranging measurements. In the distributed, factorized PNT chain, each platform maintains and contributes local measurements as states to a set of dynamically assigned parent node for a platform cluster, each parent nodes and associated clusters links to at least one other parent node aggregates the states of the platforms in the cluster and passes/propagates states of a linked clustered.
Claims20
A system comprising:
- a first platform comprising:
- one or more position or inertial sensors;
- one or more ranging sensors, including a first ranging sensor;
- and
- a controller having one or more processors and memory, the memory having instructions stored thereon, wherein the instructions, when executed by the one or more processors of the first platform, cause the one or more processors to:
- receive sensor measurements from the one or more inertial sensors and the one or more ranging sensors;
- receive a message from a second platform of a plurality of platforms, wherein the message comprises a second set of estimated states of one or more platforms that are included in a first cluster associated with the first platform and a second cluster associated with the second platform, wherein the second cluster includes the second platform and a set of neighboring platforms of the second platform;
- determine at least one of position, velocity, and inertial values for the first platform using the received sensor measurements and the message;
- determine, via a distributed estimation algorithm, a first set of estimated states corresponding to the first cluster which includes the first platform and a set of neighboring platforms of the first platform including a first neighboring platform, wherein the first set of estimated states form a subgraph of a complete graph, and wherein the complete graph corresponds to the plurality of platforms;
- and
- execute control operations to adjust at least one of position, velocity, navigation, steering, or a combination thereof of the first platform using the first set and the second set of estimated states to maintain position or relative position or movement with at least the set of neighboring platforms of the second platform.
8 more elements
A method comprising:
- providing a first platform and a second platform each comprising (i) one or more position or inertial sensors, (ii) one or more ranging sensors, including a first ranging sensor, and (iii) a controller to execute a decentralized, collaborative navigation operation for a network of platforms;
- at the first platform,
- receiving a sensor measurement from the one or more inertial sensors and the one or more ranging sensors;
- receiving a message from the second platform of a plurality of platforms, wherein the message comprises a second set of estimated states of one or more platforms that are included in a first cluster associated with the first platform and a second cluster associated with the second platform, wherein the second cluster includes the second platform and a set of neighboring platforms of the second platform;
- determining at least one of position, velocity, and orientation values for the first platform using the received sensor measurement and the message;
- determining, via a distributed estimation algorithm, a first set of estimated states corresponding to the first cluster which includes the first platform and a set of neighboring platforms of the first platform including a first neighboring platform, wherein the first set of estimated states form a subgraph of a complete graph, and wherein the complete graph corresponds to the plurality of platforms;
- and
- executing control operations to adjust at least one of position, velocity, navigation, steering, or a combination thereof of the first platform using the first set and the second set of estimated states to maintain position or relative position or movement with at least the set of neighboring platforms of the second platform.
5 more elements
A non-transitory computer readable medium having instructions stored thereon, wherein the instructions when executed by a controller of a first platform cause the controller to:
- receive (i) a message and (ii) a sensor measurement from a second platform of a plurality of platforms, wherein the message comprises a second set of estimated states of one or more platforms that are included in a first cluster associated with the first platform and a second cluster associated with the second platform, wherein the second cluster includes the second platform and a set of neighboring platforms of the second platform;
- determine at least one of position, velocity, and orientation values for the first platform using the received sensor measurement and the message;
- determine, via a distributed estimation algorithm, a first set of estimated states corresponding to the first cluster which includes the first platform and a set of neighboring platforms of the first platform including a first neighboring platform, wherein the first set of estimated states form a subgraph of a complete graph, and wherein the complete graph corresponds to the plurality of platforms;
- and
- execute control operations to adjust at least one of position, velocity, navigation, steering, or a combination thereof of the first platform using the first set and the second set of estimated states to maintain position or relative position or movement with at least the set of neighboring platforms of the second platform.
2 more elements
Dependencies are inferred from the claim text.