SYSTEMS AND METHODS FOR COMPARING RANGE DATA WITH EVIDENCE GRIDS

摘要

Systems and methods for comparing range data with evidence grids are provided. In certain embodiments, a system comprises an inertial measurement unit configured to provide inertial measurements; and a sensor configured to provide range detections based on scans of an environment containing the navigation system. The system further comprises a navigation processor configured to provide a navigation solution, wherein the navigation processor is coupled to receive the inertial measurements from the inertial measurement unit and the range measurements from the sensor, wherein computer readable instructions direct the navigation processor to identify a portion of an evidence grid based on the navigation solution; compare the range detections with the portion of the evidence grid; and calculate adjustments to the navigation solution based on the comparison of the range detections with the portion of the evidence grid to compensate for errors in the inertial measurement unit.

主权项

1. A navigation system, the system comprising:
an inertial measurement unit configured to provide inertial measurements; a sensor configured to provide range detections based on scans of an environment containing the navigation system; and a navigation processor configured to provide a navigation solution, wherein the navigation processor is coupled to receive the inertial measurements from the inertial measurement unit and the range measurements from the sensor, wherein computer readable instructions direct the navigation processor to:
identify a portion of an evidence grid based on the navigation solution;compare the range detections with the portion of the evidence grid; andcalculate adjustments to the navigation solution based on the comparison of the range detections with the portion of the evidence grid to compensate for errors in the inertial measurement unit.