公开(公告)号：US10267924B2

公开(公告)日：2019-04-23

申请号：US15703588

申请日：2017-09-13

Applicant: QUALCOMM Incorporated

Inventor： Arvind Ramanandan ,  Murali Chari ,  Yiming Chen ,  Avdhut Joshi ,  John Steven Lima

IPC: G01S11/12 ,  G01S19/45 ,  G01S19/47 ,  G01S19/52 ,  G01S19/53

Abstract: A method for visual inertial odometry (VIO)-aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window of multiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs.

公开(公告)号：US20180188384A1

公开(公告)日：2018-07-05

申请号：US15703588

申请日：2017-09-13

Applicant: QUALCOMM Incorporated

Inventor： Arvind Ramanandan ,  Murali Chari ,  Yiming Chen ,  Avdhut Joshi ,  John Steven Lima

IPC: G01S19/47 ,  G01S19/52

CPC classification number: G01S19/45 ,  G01S11/12 ,  G01S19/47 ,  G01S19/52 ,  G01S19/53

Abstract: A method for visual inertial odometry (VIO)-aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window of multiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs.