# US 2014/0195148 A1 · Augmented Mobile Platform Localization > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195148 A1 - Document ID: US20140195148A1 - Status: Published application - Kind: A1 - Application number: 13/734,707 - Filed: 2013-01-04 - Published: 2014-07-10 - Earliest claimed: 2013-01-04 - Assignees: The Boeing Company - Inventors: Charles A. Erignac; Hui Li - Web page: https://patentgrep.com/patent/US20140195148A1 ## CPC - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0282: {generated in a local control room} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A system includes a transformation module, alignment module and aligned localization module. The transformation module is configured to receive first and second pose estimates of a mobile platform movable within an environment. The first and second pose estimates are relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems. The transformation module, then, may be configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates. The alignment module may be configured to align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map. And the aligned localization module may be configured to localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform. ## Claims ### Claim 1 A system comprising: a transformation module configured to receive first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems, the transformation module being configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates; an alignment module configured to align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map; and an aligned localization module configured to localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform. ### Claim 2 (depends on 1) The system of claim 1, wherein the transformation module is configured to receive the first pose estimate from a mapping and localization system onboard the mobile platform, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map. ### Claim 3 (depends on 2) The system of claim 2, wherein the alignment module is configured to receive the first digital map from the mapping and localization system. ### Claim 4 (depends on 2) The system of claim 2, wherein the transformation module is configured to receive the first pose estimate from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique. ### Claim 5 (depends on 1) The system of claim 1, wherein the transformation module is configured to receive the second pose estimate from a wireless locating system configured to calculate the second pose estimate of the mobile platform relative to the second digital map accessible from storage. ### Claim 6 (depends on 5) The system of claim 5, wherein the transformation module is configured to receive the second pose estimate from the wireless locating system comprising an indoor or local positioning system. ### Claim 7 (depends on 1) The system of claim 1 further comprising: a communication interface configured to communicate the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment. ### Claim 8 An apparatus comprising a processor and a memory storing computer-readable program code portions that, in response to execution by the processor, cause the apparatus to at least: receive first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems; calculate a geometric transform between the first and second digital maps based on the first and second pose estimates; align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map; and localize the mobile platform relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile platform. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the apparatus is caused to receive the first pose estimate from a mapping and localization system onboard the mobile platform, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the apparatus is caused to receive the first digital map from the mapping and localization system. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the apparatus is caused to receive the first pose estimate from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique. ### Claim 12 (depends on 8) The apparatus of claim 8, wherein the apparatus is caused to receive the second pose estimate from a wireless locating system configured to calculate the second pose estimate of the mobile platform relative to the second digital map accessible from storage. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the apparatus is caused to receive the second pose estimate from the wireless locating system comprising an indoor or local positioning system. ### Claim 14 (depends on 8) The apparatus of claim 8 further comprising: a communication interface configured to communicate the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment. ### Claim 15 A method comprising: receiving first and second pose estimates of a mobile platform movable within an environment, the first and second pose estimates being relative to different, respective first and second digital maps of the environment in different, respective first and second coordinate systems; calculating a geometric transform between the first and second digital maps based on the first and second pose estimates; aligning the first and second digital maps based on the geometric transform, and thereby generating an aligned digital map; and localizing the mobile platform relative to the aligned digital map, and thereby calculating an aligned pose estimate of the mobile platform. ### Claim 16 (depends on 15) The method of claim 15, wherein the first pose estimate is received from a mapping and localization system onboard the mobile platform, the mapping and localization system being configured to build the first digital map of the environment, and calculate the first pose estimate of the mobile platform relative to the first digital map. ### Claim 17 (depends on 16) The method of claim 16, wherein the aligning the first and second digital maps includes receiving the first digital map from the mapping and localization system. ### Claim 18 (depends on 16) The method of claim 16, wherein the first pose estimate is received from the mapping and localization system configured to build the first digital map and calculate the first pose estimate in accordance with a simultaneous localization and mapping technique. ### Claim 19 (depends on 15) The method of claim 15, wherein the second pose estimate is received from a wireless locating system configured to calculate the second pose estimate of the mobile platform relative to the second digital map accessible from storage. ### Claim 20 (depends on 19) The method of claim 19, wherein the second pose estimate is received from the wireless locating system comprising an indoor or local positioning system. ### Claim 21 (depends on 15) The method of claim 15 further comprising: communicating the aligned pose estimate to the mobile platform to aid navigation of the mobile platform as it moves within the environment.