System and method for collaborative navigation

摘要

A system and method for collaborative navigation is provided. The system comprises a first mobile unit, at least one inertial measurement unit on the first mobile unit, and at least one environment sensor on the first mobile unit. A navigator module in the first mobile unit is configured to receive inertial data from the inertial measurement unit. An object characterization module is configured to receive sensor data from the environment sensor and a navigation solution from the navigator module. A common object geo-locator module is configured to receive a first set of descriptors from the object characterization module and a second set of descriptors from another mobile unit. A data association module is configured to receive common descriptors from the common object geo-locator module. The first mobile unit is configured to operatively communicate with one or more additional mobile units that are configured for collaborative navigation with the first mobile unit.

主权项

1. A system for collaborative navigation, the system comprising:
a first mobile unit; at least one inertial measurement unit on the first mobile unit; at least one environment sensor on the first mobile unit configured to detect one or more objects in an environment; a navigator module configured to receive inertial data from the inertial measurement unit; an object characterization module configured to receive sensor data related to the one or more objects from the environment sensor and a navigation solution from the navigator module; a common object geo-locator module configured to receive a first set of descriptors from the object characterization module and a second set of descriptors from another object characterization module of another mobile unit, the first and second sets of descriptors including object data, object features, object location, and object uncertainty, wherein the common object geo-locator module is operative to perform common object extraction from the first and second sets of descriptors, perform correlation between objects to determine common objects, and determine a best estimate of the common object location and uncertainty; and a data association module configured to receive common descriptors from the common object geo-locator module; wherein the first mobile unit is configured to operatively communicate with one or more additional mobile units that are configured for collaborative navigation with the first mobile unit.