Modular adaptive magnetic navigation
AssigneeSB Technology, Inc.
InventorsPatrick L. Neary, Jonathan Ouellet, Kimberly Moore
Life of this patent
Estimating the term…
Abstract
A magnetic navigation system utilizes a modular adaptive compensation pipeline to compensate or calibrate for various platform effects to which a vehicle is subjected. A denoising monitor detects noise characteristics in magnetic field data collected from one or more magnetometers of the vehicle and selectively activates one or more noise removal modules to remove noise from the magnetic field data, and a maneuver module detects a current state of the vehicle and selectively activates one or more maneuver modules to calibrate the magnetic field data for platform orientation effects.
Claims23
A computer-implemented method of magnetic navigation, comprising:
- receiving sensor data, the sensor data including magnetic field data collected from one or more magnetometers of a vehicle;
- in a first monitor, detecting a noise characteristic in the received sensor data, and in response to detecting the noise characteristic, selectively activating at least one of a plurality of noise removal modules in a denoising pipeline;
- in each selectively activated noise removal module in the denoising pipeline, removing noise associated with the detected noise characteristic from the magnetic field data;
- in a second monitor, detecting a current state of the vehicle from the received sensor data, and in response to detecting the current state of the vehicle, selectively activating at least one of a plurality of maneuver modules in a state calibration pipeline;
- in each selectively activated maneuver module in the state calibration pipeline, calibrating the magnetic field data to correct for platform orientation effects, wherein removing noise associated with the detected noise characteristic and calibrating the magnetic field data to correct for platform orientation effects generates denoised and calibrated magnetic field data from the received sensor data;
- and
- estimating a position of the vehicle using the denoised and calibrated magnetic field data.
A magnetic navigation system comprising one or more processors and memory operably coupled with the one or more processors, wherein the memory stores instructions that, in response to execution of the instructions by one or more processors, cause the one or more processors to perform a method of magnetic navigation that includes:
- receiving sensor data, the sensor data including magnetic field data collected from one or more magnetometers of a vehicle;
- in a first monitor, detecting a noise characteristic in the received sensor data, and in response to detecting the noise characteristic, selectively activating at least one of a plurality of noise removal modules in a denoising pipeline;
- in each selectively activated noise removal module in the denoising pipeline, removing noise associated with the detected noise characteristic from the magnetic field data;
- in a second monitor, detecting a current state of the vehicle from the received sensor data, and in response to detecting the current state of the vehicle, selectively activating at least one of a plurality of maneuver modules in a state calibration pipeline;
- in each selectively activated maneuver module in the state calibration pipeline, calibrating the magnetic field data to correct for platform orientation effects, wherein removing noise associated with the detected noise characteristic and calibrating the magnetic field data to correct for platform orientation effects generates denoised and calibrated magnetic field data from the received sensor data;
- and
- estimating a position of the vehicle using the denoised and calibrated magnetic field data.
A non-transitory computer readable storage medium storing computer instructions executable by one or more processors to perform a method of magnetic navigation that includes:
- receiving sensor data, the sensor data including magnetic field data collected from one or more magnetometers of a vehicle;
- in a first monitor, detecting a noise characteristic in the received sensor data, and in response to detecting the noise characteristic, selectively activating at least one of a plurality of noise removal modules in a denoising pipeline;
- in each selectively activated noise removal module in the denoising pipeline, removing noise associated with the detected noise characteristic from the magnetic field data;
- in a second monitor, detecting a current state of the vehicle from the received sensor data, and in response to detecting the current state of the vehicle, selectively activating at least one of a plurality of maneuver modules in a state calibration pipeline;
- in each selectively activated maneuver module in the state calibration pipeline, calibrating the magnetic field data to correct for platform orientation effects, wherein removing noise associated with the detected noise characteristic and calibrating the magnetic field data to correct for platform orientation effects generates denoised and calibrated magnetic field data from the received sensor data;
- and
- estimating a position of the vehicle using the denoised and calibrated magnetic field data.
(canceled)
(canceled)
Dependencies are inferred from the claim text.