Method for using partially occluded images for navigation and positioning

摘要

A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information that is used as an input to an error correction module. The error correction module outputs inertial location adjustment information that is used to update the inertial system's location information.

主权项

1. A system comprising:
a GNSS system configured to provide GNSS location information related to a vehicle; an inertial navigation system operatively interconnected with the GNSS system, the inertial navigation system configured to provide inertial location information related to the vehicle; an image capture device configured to obtain one or more images of a fixed field of view; a vision system configured to determine vision system location information using the obtained one or more images, the vision system further configured to forward the vision system location information to an error correction module, the error correction module configured to utilize the inertial location information and the vision system location information to generate inertial navigation system adjustment information, wherein the error correction module utilizes a linear error correction model that utilizes at least a total of 12 tie points within a sequence of one or more of the obtained one or more images; and a Kalman filter configured to determine a location of the vehicle using the GNSS location information, the inertial location information and the vision system location information.