System and Method for Localizing Two or More Moving Nodes

摘要

UMAPS is a multifaceted system that can be robot-mounted, human-worn, or canine carried. UMAPS produces real-time, 3D mapping and localization for the user as they move throughout a GPS-denied environment (e.g. buildings, caves, or tunnels). An Operator Control Unit (OCU) displays information collected by UMAPS; 2D floorplans; 3D textured-enriched surfaces of the structure's interior; and the location of the users within that structure. UMAPS has an open architecture that allows it to function with any OCU. UMAPS has three distinct subsystems: obstacle maps for robot mobility, mapping, and positioning

主权项

1. A program storage device readable by a computer machine, tangibly embodying program instructions executable by the computer machine to perform method steps for a method for a distributed system for localizing two or more moving nodes, the method steps comprising:
providing inertial components on the moving nodes; measuring positional relationships between nodes; enabling communication device between nodes; providing and associating a computational device with each node; making positional relationship measurements; providing a filtering algorithm and determining, by the filtering mechanism, the position of the nodes using the inertial measurements and the positional relationship measurements.