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公开(公告)号：US12130959B2
公开(公告)日：2024-10-29
申请号：US17703271
申请日：2022-03-24
CPC分类号： G06F3/012 , G01S19/47 , G06T19/006
摘要： Described herein are embodiments of methods and apparatuses for an augmented reality system wherein a wearable augmented reality apparatus may efficiently manage and transfer data and approximate the position of its wearer and the perceived position of a virtual avatar in space. The embodiments may include methods of using data from various external or embedded sensors to estimate and/or determine fields related to the user, apparatus, and/or the avatar. The embodiments may further include methods by which the apparatus can approximate the perceived position of the apparatus and the avatar relative to the user when no predefined path is specified. The embodiments may further include methods by which information about a user's path is compressed and transferred.
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公开(公告)号：US12123894B2
公开(公告)日：2024-10-22
申请号：US16864698
申请日：2020-05-01
发明人： David E. Rival , Joshua N. Galler
摘要： Apparatus and methods for measuring velocity perturbation in a fluid include one or more sensor vehicle adapted to be deployed in the fluid and a device that obtains position and acceleration data of each sensor vehicle. A physical model of the one or more sensor vehicle behaviour is used to transform the obtained data into a velocity field of the fluid, and output a map of the velocity field in the fluid. Sensor vehicles may be adapted to move passively through the fluid and/or to be transported by the fluid. The apparatus and methods may be used in liquid and gaseous environments, and the velocity field map may be used to track movement of species and particulate matter of interest in the fluid in real time.
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公开(公告)号：US12117295B2
公开(公告)日：2024-10-15
申请号：US17636119
申请日：2020-07-28
发明人： Martin Liebner , David Pannen , Thomas Schutzmeier
CPC分类号： G01C21/005 , G01C21/165 , G01C21/3804 , G01S19/393 , G01S19/40 , G01S19/47
摘要： A device estimates an actual trajectory of a vehicle. The device is designed to determine a sequence of measured position values over a corresponding sequence of times by use of a position sensor. The device is further designed to determine a sequence of odometry values on the basis of sensor data from one or more vehicle sensors. The device is also designed to determine, as an estimation of the actual trajectory of the vehicle, a sequence of estimated pose values for the sequence of times and a systematic position offset for the sequence of measured position values so that an optimization criterion is improved, in particular is optimized at least locally.
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公开(公告)号：US12111403B2
公开(公告)日：2024-10-08
申请号：US17620543
申请日：2020-06-17
摘要： Error and integrity evaluation during a position determination, includes: recording position values (P−N, P−2, P−1) and calculating clock errors of a receiver via time-discrete runtime measurements by a satellite navigation system; recording a first pseudo-distance at a later time via time-discrete runtime measurement by the satellite navigation system; extrapolating a position value (P′0) of the receiver at the later time and extrapolating a clock error of the receiver at the later time; establishing a distance (r′0) between the extrapolated position value (P′0) of the receiver and the position of a satellite (S0) of the satellite navigation system at the later time, wherein a quality measure for the usability of the position determination with the satellite is obtained by forming a second pseudo-distance based on the sum of the established distance (r′0) and the extrapolated clock error at the later time and comparing the second pseudo-distance with the first pseudo-distance.
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公开(公告)号：US12111178B2
公开(公告)日：2024-10-08
申请号：US18078745
申请日：2022-12-09
发明人： Peter Ondruska , Lukas Platinsky
CPC分类号： G01C21/3848 , G01C11/06 , G01C21/12 , G01C21/3811 , G01C21/3841 , G01S17/89 , G01S19/47 , G06T7/74 , G06T2207/10012 , G06T2207/10016 , G06T2207/10028
摘要： The present invention relates to the efficient use of both local and remote computational resources and communication bandwidth to provide distributed environment mapping using a plurality of mobile sensor-equipped devices.
According to a first aspect, there is provided a method of determining a global position of one or more landmarks on a global map, the method comprising the steps of determining one or more differences between sequential sensor data captured by one or more moving devices; determining one or more relative localisation landmark positions with respect to the one or more moving devices; determining relative device poses based one or more differences between sequential sensor data relative to the one or more relative localisation landmark positions; and determining a correlation between each device pose and the one or more relative localisation landmarks positions.-
6.发明授权公开(公告)号：US12099129B2
公开(公告)日：2024-09-24
申请号：US17624581
申请日：2020-05-15
发明人： Peter Dürr
CPC分类号： G01S19/47 , B64C39/024 , G01S19/22 , G01S19/428 , B64U10/13 , B64U30/20
摘要： A method for determining a position of an Unmanned Vehicle (UV) is provided. The method includes receiving positioning signals from a plurality of satellites of a global navigation satellite system. Further, the method includes estimating the position of the UV based on (i) a three-dimensional model of the UV's environment and (ii) possible signal paths for each of the positioning signals. At least part of the possible signal paths include reflections of the positioning signals by one or more objects in the UV's environment.
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公开(公告)号：US12031824B2
公开(公告)日：2024-07-09
申请号：US17664653
申请日：2022-05-23
申请人： NVIDIA Corporation
发明人： Mark Damon Wheeler , Gregory William Coombe , Di Zeng , Jeff Adachi , Chen Chen
CPC分类号： G01C21/165 , G01C21/1652 , G01C21/1656 , G01C21/3848 , G01S19/393 , G01S19/46 , G01S19/47 , G01S19/52 , G05D1/0231 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0278 , G01C21/1654
摘要： A vehicle computing system validates location data received from a Global Navigation Satellite System receiver with other sensor data. In one embodiment, the system calculates velocities with the location data and the other sensor data. The system generates a probabilistic model for velocity with a velocity calculated with location data and variance associated with the location data. The system determines a confidence score by applying the probabilistic model to one or more of the velocities calculated with other sensor data. In another embodiment, the system implements a machine learning model that considers features extracted from the sensor data. The system generates a feature vector for the location data and determines a confidence score for the location data by applying the machine learning model to the feature vector. Based on the confidence score, the system can validate the location data. The validated location data is useful for navigation and map updates.
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公开(公告)号：US20240192386A1
公开(公告)日：2024-06-13
申请号：US18080046
申请日：2022-12-13
CPC分类号： G01S19/47 , G01S19/02 , G01S19/256
摘要： A terrestrial positioning system includes a mobile terrestrial transmitter including a local clock source and an inertial measurement unit, and a synchronization master including a memory configured to store initially known positioning information of the terrestrial transmitter. The terrestrial transmitter determines altered positioning information of the terrestrial transmitter using the first IMU and broadcasting a positioning signal including a timestamp. The synchronization master calculates an expected time of flight of the received positioning signal based on the determined altered positioning information and the stored initially known positioning information of the terrestrial transmitter, to determine a first deviation of the actual time of flight determined from the timestamp and the actual reception time of the received positioning signal with respect to the calculated expected time of flight and to instruct the terrestrial transmitter to delay or prepone the broadcast of the positioning signal.
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公开(公告)号：US12000946B2
公开(公告)日：2024-06-04
申请号：US17320707
申请日：2021-05-14
CPC分类号： G01S5/0284 , G01S19/47 , H04B7/18506 , H04W4/023 , H04W76/10
摘要： A system and method established and maintains precision relative position, navigation, and timing (PNT) across a network of at least four mutually connected mobile platforms. In embodiments, a key (e.g., advantaged, absolute positioning capable) node of the network determines its pressure altitude and inertial state relative to its platform reference frame and receives inertial state and pressure altitude data from each neighboring node (in exchange for its own) to estimate the relative position and orientation of each neighbor node in its platform frame. The key node performs ranging to each neighboring node, and the neighboring nodes additionally range between each other and exchange ranging data with the key node. By correcting position and orientation estimates via ranging data, the key node determines and maintains extended relative PNT (e.g., in GPS-denied areas), which relative PNT solution is distributed across all network nodes.
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公开(公告)号：US20240168175A1
公开(公告)日：2024-05-23
申请号：US17993487
申请日：2022-11-23
申请人： Trimble Inc.
发明人： Adam Clare , Shawn Weisenburger , Yu Jiao
摘要： Disclosed are a method and apparatus are provided for determining the amount of obstruction of a view of a satellite. An estimated satellite location from a satellite signal is mapped to a matrix of obstructions. A window is determined around the satellite location and all the obstructions within the window are considered in determining whether the satellite is obstructed, with the window considering the degree of possible error within the various measurements. In embodiments, the window size if varied based on the estimated amount of error and location of the satellite within the matrix.
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