公开(公告)号：US11875519B2

公开(公告)日：2024-01-16

申请号：US17402442

申请日：2021-08-13

申请人： Medhat Omr ,  Abdelrahman Ali ,  Amr Al-Hamad ,  Jacques Georgy ,  Billy Cheuk Wai Chan ,  Dylan Krupity ,  Qingli Wang ,  Christopher Goodall

发明人： Medhat Omr ,  Abdelrahman Ali ,  Amr Al-Hamad ,  Jacques Georgy ,  Billy Cheuk Wai Chan ,  Dylan Krupity ,  Qingli Wang ,  Christopher Goodall

IPC分类号： G06T7/277 ,  G01C21/30 ,  G06T7/77 ,  G06T7/73 ,  G06T7/70 ,  G06T7/80 ,  G06T7/20 ,  G06N3/045

CPC分类号： G06T7/277 ,  G01C21/30 ,  G06T7/20 ,  G06T7/70 ,  G06T7/73 ,  G06T7/75 ,  G06T7/77 ,  G06T7/80 ,  G06N3/045

摘要： An integrated navigation solution is provided for a device within a moving platform. Motion sensor data from a sensor assembly of the device is obtained, optical samples from at least one optical sensor for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for optical sensor data. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the optical sensor data directly by updating the nonlinear state estimation technique using the nonlinear measurement model and the map information. The integrated navigation solution is then provided.

公开(公告)号：US11529838B2

公开(公告)日：2022-12-20

申请号：US16849923

申请日：2020-04-15

申请人： Jacques Georgy ,  Christopher Goodall ,  Abdelrahman Ali ,  Amr Al-Hamad ,  Anas Mahmoud ,  Billy Cheuk Wai Chan ,  Medhat Omr

发明人： Jacques Georgy ,  Christopher Goodall ,  Abdelrahman Ali ,  Amr Al-Hamad ,  Anas Mahmoud ,  Billy Cheuk Wai Chan ,  Medhat Omr

IPC分类号： B60G17/019

摘要： Vehicle body tilt, representing a difference between a vehicle body frame of reference and a wheel-base frame of reference, is determined by obtaining information from sensor assemblies for the vehicle body and for the wheel-base. Navigational solutions are generated for the sensor assemblies using motion sensor data from the assemblies and absolute navigational information. Correspondingly, vehicle body tilt is determined based at least in part on the vehicle body navigation solution and the wheel-base navigation solution.

公开(公告)号：US20220107184A1

公开(公告)日：2022-04-07

申请号：US17402442

申请日：2021-08-13

申请人： Medhat Omr ,  Abdelrahman Ali ,  Amr Al-Hamad ,  Jacques Georgy ,  Billy Cheuk Wai Chan ,  Dylan Krupity ,  Qingli Wang ,  Christopher Goodall

发明人： Medhat Omr ,  Abdelrahman Ali ,  Amr Al-Hamad ,  Jacques Georgy ,  Billy Cheuk Wai Chan ,  Dylan Krupity ,  Qingli Wang ,  Christopher Goodall

IPC分类号： G01C21/30

摘要： An integrated navigation solution is provided for a device within a moving platform. Motion sensor data from a sensor assembly of the device is obtained, optical samples from at least one optical sensor for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for optical sensor data. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the optical sensor data directly by updating the nonlinear state estimation technique using the nonlinear measurement model and the map information. The integrated navigation solution is then provided.