System for synthetic aperture for cooperative navigation
AssigneeThe United States of America as represented by the Secretary of the Air Force
InventorKevin Brink
Life of this patent
Estimating the term…
Abstract
Navigation filters/estimators are coupled with coordinated multi-agent batch navigation to facilitate “Synthetic Aperture” capabilities for improved GPS-denied or degraded navigation. The modified single-agent navigation filter continues to estimate platform (Airborne, water based and/or land based autonomous vehicles) position, velocity, and attitude in a global reference frame in the standard way, but now simultaneously outputs “delta-poses” (effectively a low rate odometry) with accurate covariances. The delta-poses are then used in complementary multi-platform navigation algorithms which provides accurate relative pose between cooperating platforms. The relative position knowledge allows the modified global filter to ingest the other platforms navigation-aiding measurements directly.
Claims15
A navigation system for a vehicle without full GPS guidance, comprising:
- a control system operable for controlling movement of the vehicle;
- a modified navigation filter operable for generating delta-pose measurements of the vehicle and using globally relevant measurements of a cooperating vehicle;
- a communication system operable for transmitting and receiving data to and from other vehicles in a defined region;
- and
- wherein the system solves for the relative position and orientation of the vehicle and the cooperating vehicles;
- and
- wherein the filter is operable for estimating in a global reference frame at least one of a position, a velocity, and an attitude along with a corresponding covariance uncertainty.
A method for improving navigation of a vehicle with limited GPS input, comprising:
- controlling movement of the vehicle;
- transmitting and receiving data to and from other vehicles in a defined region;
- and
- generating delta-pose measurements of the vehicle with a navigation filter;
- processing global inputs with the navigation filter;
- transmitting and receiving data to and from other vehicles in a defined region;
- solving for the relative pose of other vehicles with respect to a resent keyframe;
- and
- using globally relevant measurement and relative pose of at least one other vehicle to improve the accuracy of the navigation filter.
Dependencies are inferred from the claim text.