273 results about "Autonomous Navigation System" patented technology

A autonomous navigation system of a navigational satellite based on X radial pulse satellite includes: an X radial detector, an atomic clock group on the satellite, a planet of our solar system parameter database, an X radial pulsar module and a characteristic parameter database, a computer on the satellite, a strap-down inertial navigation system SINS and an autonomous navigation algorithm module library; in the autonomous navigation method, the X radial photons radiated from the pulsar are used as the input of the external information; the pulse arrival time TOA and the angular position information are obtained; data is processed through a autonomous navigation filter; and the navigational parameters such as the position, the speed, the time and the pose of the navigational satellite; the navigational telegraph text and the control command are generated independently, and the independent running of the navigational satellite is realized. The present invention has the advantages of providing a long time and a high degree of accuracy autonomous navigation, and providing the fault-tolerance capacity of the autonomous navigation information processing. The autonomous navigation system is also be adequate for the high degree of accuracy autonomous navigation of the near earth orbit, the deep space, the interplanetary flight space vehicle, the a celestial body lander without thickset atmosphere and the surface peripatetic machine.

The technical disclosure herein describes an autonomous water-borne vehicle having a segmented non-planing hull with free flood fore and aft sections and a sealed center section. The disclosure also described such a vehicle having a fixed longitudinal thruster and a fixed lateral thruster for changing the heading of the vehicle. The disclosure also described such a vehicle having an autonomous mission system, an autonomous navigation system, and a web-based command and control system. The disclosure also describes such a vehicle having a submersible winch. The disclosure also describes such a vehicle wherein the sealed center section is of substantially rectangular cross section. The disclosure also describes such a vehicle having a wheeled battery tray.

Apparatus and methods according to some embodiments of the present invention use a graphical model, such as a Markov random field model, to represent principal driving directions within an environment. The model has a plurality of nodes representing spatial locations within the environment, and the principal direction for each node is determined probabilistically using linear features detected within an image of the environment. Apparatus and methods according to embodiments of the present invention can be used in improved autonomous navigation systems, such as robotic vehicles.

The invention relates to a hybrid navigation belt based mobile robot positioning system and a method thereof. The system is technically characterized by comprising a hybrid navigation positioning controller mounted on a mobile robot trolley, a hybrid navigation image collector and hybrid navigation belts distributed on the ground, wherein the hybrid navigation positioning controller is connected with the hybrid navigation image collector and used for collecting information of the hybrid navigation belts and achieving an accurate positioning function of a mobile robot. The method includes utilizing color belt images for performing transverse deviation correction and angular deviation correction of the mobile robot trolley; and utilizing two-dimensional code images for performing longitudinal deviation correction of the mobile robot trolley, and computing and positioning coordinate position of the mobile robot trolley in a world coordinate system. The system is reasonable in design, timeliness of transverse deviation correction and angular deviation correction of an autonomous navigation system of the mobile robot trolley is guaranteed, timeliness of longitudinal deviation correction by two-dimensional code is further guaranteed, and accuracy and reliability of autonomous navigation of the mobile robot are improved effectively.

Some embodiments provide an autonomous navigation system which enables autonomous navigation of a vehicle along one or more portions of a driving route based on monitoring, at the vehicle, various features of the route as the vehicle is manually navigated along the route to develop a characterization of the route. The characterization is progressively updated with repeated manual navigations along the route, and autonomous navigation of the route is enabled when a confidence indicator of the characterization meets a threshold indication. Characterizations can be updated in response to the vehicle encountering changes in the route and can include a set of driving rules associated with the route, where the driving rules are developed based on monitoring the navigation of one or more vehicles of the route. Characterizations can be uploaded to a remote system which processes data to develop and refine route characterizations and provide characterizations to one or more vehicles.

A system and method for ground truth estimation of an autonomous navigation system is described. The method includes calibrating a ground truth estimation system for the navigator, by determining a calibration pose of the navigator as disposed in relation to each of a plurality of landmarks during a calibration period. The method also includes directing the navigator to travel to a sequence of waypoints, the waypoints including a selected sequence of the landmarks. The method further includes determining the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks.

The invention discloses an autonomous navigation system positioning method based on strapdown inertial navigation resolving and zero-speed correction. According to the autonomous navigation system positioning method, output data of an MEMS (Micro-electromechanical Systems) accelerometer and an MEMS magnetometer in a pedestrian autonomous navigation system is used for carrying out initial alignment on the system; a strapdown inertial navigation resolving algorithm is used for estimating the state of the pedestrian autonomous navigation system; when a static detecting algorithm detects that pedestrian footsteps are stopped, a zero-speed correction error compensator based on Kalman filtering is designed and a navigation resolving result of the pedestrian autonomous navigation system is corrected by adopting a manner of outputting correction; the defects that an MEMS inertia measurement device is low in precision and has a great positioning error when being used for long time are overcome; a high-precision positioning function of the pedestrian autonomous navigation system is realized under the condition of not increasing external cost. The autonomous navigation system positioning method is simple and high in stability and reliability; the use precision of a single-pawn autonomous navigation system is improved effectively; the autonomous navigation system positioning method has important meanings of realizing autonomous pedestrian navigation and positioning with the high positioning precision.

A robotic first responder system provides injured patients with first response medical care and extracts the injured patient from a dangerous or remote area. After assessing of the level of consciousness of an injured patient, the robotic unit utilizes an inflatable immobilization device for safe robotic rescue of injured patients. The robotic unit lifts and transfers an injured patient to an extraction vehicle, a secure, bullet-proof wheeled system that can be pulled by the robot to safe location. The extraction vehicle continues serving as the evacuation stretcher to a medical station. The robotic unit utilizes zero moment point control to maintain stability while lifting the patient. A robot first responder tows the extraction vehicle or the extraction vehicle self-navigates incorporating with power drive and autonomous navigation systems.

An autonomous navigation system for an orbital platform incorporating a global positioning system based navigation device optimized for low-Earth orbit and medium-Earth orbit applications including a 12 channel, GPS tracking application-specific integrated circuit (15) operating in concert with a computer system (90) implementing an extended Kalman filter and orbit propagator which autonomously generates estimates of position, velocity and time to enable planning, prediction and execution of event-based commanding of mission operations.

The present invention discloses a road detection algorithm of fusion of area and edge information. The algorithm comprises: collecting road image, and employing self-adaption median filtering and noise reduction to obtain enhanced images; selecting the R component of the enhanced images in the RGB color space, employing a maximum between-cluster variance (Otsu) method to realize the road area segment of the images to obtain a binary segmentation image, and optimizing the binary segmentation image through adoption of the serial mathematical morphology; detecting the binary segmentation image through adoption of the optimal edge detection Canny detector to detect the binary segmentation image and obtain the road edge detection information, and employing the Otsu method to calculate the dual threshold in the optimal edge detection Canny detector; and employing the binary segmentation image and the road edge detection information to obtain a road border line in the image. The road detection algorithm of fusion of area and edge information employs the image processing technology to detect and extract the road information for the autonomous navigation system of a cable tunnel robot; and moreover, the road detection algorithm of fusion of area and edge information is a self-adaption road border line segmentation fusion method and can obtain a smooth and accurate road edge.

The invention discloses a low-altitude autonomous navigation system for a rotary-wing unmanned plane. The low-altitude autonomous navigation system is composed of a data acquisition device, a data preprocessing module, a data fusion module, a guidance control loop module and an attitude control loop module. The data preprocessing module is used for carrying out sampling filtering and error compensation on current location data information collected by the data acquisition device; the data fusion module is used for carrying out fusion and updating and obtaining a current position and speed of the rotary-wing unmanned plane; the guidance control loop module is used for calculating an expected attitude angle and an expected height value; and the attitude control loop module is used for generating a controlled quantity. According to the technical scheme, a problem of poor attitude estimation precision of the conventional navigation system can be solved; and requirements of high-precision heading attitude calculation and position and speed fusion of the rotary-wing unmanned plane can be met. High-precision filtering of the system is realized. On the basis of the analysis and calculation of the autonomous navigation system, the flight route and height can be corrected and the flight attitude can be adjusted autonomously; and the autonomous flight of the unmanned plane can be realized.

The invention discloses a method for designing a monocular vision odometer with a light stream method and a feature point matching method integrated. Accurate real-time positioning is of great significance to an autonomous navigation system. Positioning based on the SURF feature point matching method has the advantages of being robust for illumination variations and high in positioning accuracy, and the defects of the SURF feature point matching method are that the processing speed is low and real-time positioning can not be achieved. The light steam tracking method has good real-time performance, and the defect of the light steam tracking method is that positioning accuracy is poor. The method integrates the advantages of the two methods, and the monocular vision odometer integrated with the light stream method and the feature point matching method is designed. Experimental results show that the algorithm after integration can provide accurate real-time positioning output and has robustness under the condition that illumination variations and road surface textures are few.

A method for measuring space-circle geometric parameter based on binocular stereo-vision includes confirming parameter and one-order radial distortion parameter separately in left-right video cameras, calculating out rotary matrix and translation vector presenting relative position relation of left-right video cameras, utilizing left-right video cameras to obtain two frame of images containing space-circle oval image and carrying out distortion calibration on two obtained images and directly calculating out all geometric parameters of space-circle in linear way by adapting oval image of distortion-calibrated image plane.

An automated method for autonomous navigation of a maneuverable platform is disclosed. The method includes providing an autonomous navigation system that includes a situation awareness module to receive data from one or more sensors on one or more identifying parameters selected from the group of identifying parameters that includes position, course and speed, relating to the platform and obstacles in the vicinity of the platform. The platform also includes a decision module to choose course and speed for the platform based on the identifying parameters of the obstacles in the vicinity of the platform and the data on the position of the platform. The method further includes providing the decision module with information on a mission that includes at least one task assigned to the platform; and periodically obtaining the data and choosing a preferred option using the decision module, based on the identifying parameters, by assigning, for each option from a set of options, each option defining a distinct combination of course and speed, a grade which is indicative of the desirability of that option with respect to each of the obstacles and with respect to each of a plurality of objectives, for each option summing the grades assigned to that option with respect to all obstacles, wherein the preferred option is the option whose summed grades is indicative of the greatest desirability of that option.

The invention discloses a scheme of a spacecraft navigation based on an X pulsar detection equivalent device. The scheme mainly comprises the following processes of simulating X pulsar emitting photon information detected by an X pulsar detector, and resolving a spacecraft position and speed navigation information. The overall simulation process is divided into three parts, namely detector simulating, data processing and navigation resolving. In the first part, the detector simulates the photon arrival time; in the second part, a data processing system performs cycle folding according to the photon arrival time of the X pulsar, calculates a pulse profile, performs time conversion, and performs pulse profile cross-correlation processing with a standard profile stored by a known ephemeris so as to finish the calculation of the pulse arrival time; and in the third part of navigation resolving, a precise spacecraft orbit and time information are resolved finally by taking the pulse arrival time as measurement information and combining an orbit dynamic equation and kalman filtering. By the X pulsar equivalent device, the influence of various parameters and different algorithms such as a resolution ratio, a view field, time conversion precision, a folding algorithm and the like on the autonomous navigation accuracy of the spacecraft can be analyzed, and necessary technical support is provided for the development of an X pulsar-based autonomous navigation system and the research on combined navigation with other systems.

The invention relates to a multifunctional intelligent medical guardian wheelchair which comprises a wheelchair body, an industrial control computer, a camera, a laser positioning sensor, a bottom core control module, an environment sensor, an electric energy control module, a tablet computer, a manipulator arm, a manipulator arm operation module, a first motor, a second motor, a synchronous driving control module, a remote information inquiring terminal, a autonomous navigation system and a video voice communication module. The first motor and the second motor drive a left power wheel and a right power wheel respectively, the synchronous motor driving control module controls the motors, and the remote information inquiring terminal, the autonomous navigation system and the video voice communication module are connected with the tablet computer. The tablet computer is connected with the industrial control computer which is connected with the bottom core control module, the manipulator arm operation module is connected with the industrial control computer, and the synchronous motor driving control module is connected with the bottom core control module. The multifunctional intelligent medical guardian wheelchair integrates multiple functions of moving, serving, interacting and guardian and the like, and is capable of alleviating burden of taking care of solitude elder people and patients with quarantined diseases in the society.

The invention relates to an independent celestial navigation method for a Mars capturing section of a deep space probe. The method comprises the following steps of: establishing a state model of the deep space probe according to a circular restrictive four-body track dynamics model; acquiring picture element and picture line information of Mars, Martian satellites and a background fixed star, converting the acquired picture element and picture line information into angle information of the Mars, the Martian satellites and the background fixed star and establishing an angle measuring model of the Mars, a Martian satellite I and a Martian satellite II; and estimating the attitude information of the probe by adopting a q-method and estimating the position and speed of the deep space probe in combination with Unscented Kallman filtering. The method has high estimation accuracy, and is very suitable for independent navigation of Mars capturing. The method belongs to the technical field of aerospace navigation. By adopting the method, high-accuracy navigation parameters can be provided for Mars capturing of the deep space probe, and references can be provided for the design of an independent navigation system of the deep space probe.

The invention realizes a new robot autonomous navigation system based on double single-line laser radars. Compared with mainstream indoor robot navigation systems in the prior art, only by use of two low-cost single-line laser radars as a source of information, navigation and obstacle avoidance effects of the new robot autonomous navigation system are obviously superior to that of schemes with same cost in the prior art. The new robot autonomous navigation system based on the double single-line laser radars includes a double single-line laser radar system, an upper navigation system, a bottom control algorithm and a motion execution system; the upper navigation system includes a SLAM algorithm and a coordinate transformation algorithm; a current space two-dimensional map can be dynamically constructed by use of original laser radar data acquired by horizontally-installed radars by use of the SLAM algorithm, and displacement information of a robot platform can be calculated.

The invention relates to an inertia / vision integrated navigation method for a deep-space detection patrolling device. The method comprises the steps that a state model of inertia / vision integrated navigation of the patrolling device is established according to a serial inertial navigation mechanical arrangement in a fixed coordinate system of a planet; a binocular vision camera is used for shooting a surrounding environment of the patrolling device; a stereoimage sequence is obtained; pixel coordinates of characteristic points are obtained by an image characteristic extraction algorithm; a measurement model by taking the pixel coordinates of the characteristic points as measurement vectors is established; and a position, a speed and a state of the deep-space detection patrolling device are estimated by using Unscented kalman filter. The method can effectively correct a position error of inertial navigation and improve the navigation accuracy, is very applicable to autonomous navigation of the deep-space detection patrolling device, belongs to the technical field of space navigation, can provide high-precision navigational parameters for the deep-space detection patrolling device, and can provide references for the design of an autonomous navigation system of the deep-space detection patrolling device.

Apparatus and methods according to some embodiments of the present invention use a graphical model, such as a Markov random field model, to represent principal driving directions within an environment. The model has a plurality of nodes representing spatial locations within the environment, and the principal direction for each node is determined probabilistically using linear features detected within an image of the environment. Apparatus and methods according to embodiments of the present invention can be used in improved autonomous navigation systems, such as robotic vehicles.

The invention discloses an unmanned aerial vehicle autonomous navigation system and method based on image processing and radar. The system comprises an unmanned aerial vehicle platform and a ground station system, wherein a GPS satellite positioning module, an image processing module, a radar system module and a hybrid control module are arranged on the unmanned aerial vehicle platform; the hybrid control module is connected with the GPS satellite positioning module, the image processing module, the radar system module, an unmanned aerial vehicle flight controller and a communication module; the image processing module comprises a high-speed camera, a camera holder unit and an image processing unit; the radar system module comprises a microwave and millimeter wave radar unit and a signal processing unit; the hybrid control module comprises an unmanned aerial vehicle high-speed embedded-type processing unit. According to the method, a sensor group, the image processing module and the radar system module periodically acquire effective information, and feed back the acquired effective information to the hybrid control module for classified processing, so that autonomous navigation of an unmanned aerial vehicle can be achieved. The system provided by the invention is advanced and high in expansibility; through adoption of the system, the autonomous navigation effect of an automated unmanned aerial vehicle can be very good.

The invention discloses a mobile robot autonomous navigation system and method. The mobile robot autonomous navigation system comprises an infrared sensor distance measurement unit, an upper computer, a main controller and a motor, and is characterized in that the infrared sensor distance measurement unit is used for measuring the distance between an obstacle in one or more directions and a mobile robot in real time; the upper computer is used for performing path planning on the mobile robot according to the distance between the obstacle and the mobile robot, generating navigation information and sending the navigation information to the main controller; the main controller is used for controlling the motor to operate according to the navigation information sent by the upper computer so as to enable the motor to drive the mobile robot to perform autonomous walking. By using the mobile robot autonomous navigation system and method, requirements for hardware equipment and working environment of the robot are effectively reduced under the condition of ensuring certain navigation accuracy, and the cost-to-performance ratio of products is improved.

The invention provides a small satellite autonomous navigation system based on starlight / geomagnetism integrated information and a navigation method thereof and belongs to the technical field of integrated navigation. The autonomous navigation system comprises a star sensor measuring system, an earth magnetic field measuring system, an orbit determination system and an attitude determination system. The navigation method comprises the following steps of: the establishment of a navigation system state equation, the measurement equation establishment of the navigation system and integrated navigation system information fusion based on UKF(unscented kalman filter). According to the method, a large view filed star sensor is utilized to simultaneously observe starlight vector information of multiple navigational stars, thereby making up the defect caused by overlarge measurement noise of a magnetometer and obtaining high navigation accuracy; based on track and attitude information contained in the measured values of a magnetometer and the star sensor and in comprehensive consideration of influences of various factors, a measurement equation of the system is established, the adaptability and the stability of a filter to measurement noise are improved; therefore, the method is suitable for navigation of a low earth rail small satellite adopting a cheap small autonomous navigation system.

The invention provides an indoor unmanned aerial vehicle accurate positioning and autonomous navigation system. The system comprises an unmanned aerial vehicle; a binocular camera module which is usedfor capturing a ground two-dimensional code label to obtain position information of the unmanned aerial vehicle; an ultra-wideband UWB module which is used for capturing a positioning label on the unmanned aerial vehicle to obtain position information of the unmanned aerial vehicle; an external global high-definition camera module which is used for capturing mark points on the unmanned aerial vehicle to obtain position information of the unmanned aerial vehicle; an extended Kalman filtering module which is used for fusing the obtained position information of the unmanned aerial vehicle, predicting the attitude and position of the unmanned aerial vehicle and updating the attitude and position in real time; an instant positioning module which is used for instantly positioning the unmanned aerial vehicle; a navigation module which is used for providing an autonomous navigation function; a calculation and storage module which is used for calculating and storing position information of theunmanned aerial vehicle; and a man-machine interaction module which is used for providing a man-machine interaction function and setting a flight route of the unmanned aerial vehicle. The invention further provides a method for accurate positioning and autonomous navigation of the indoor unmanned aerial vehicle. The ststem is accurate in positioning, low in cost and reliable in performance.

The invention relates to an independent celestial navigation method of a deep space probe based on minor planet intersection. The method comprises the following steps of: establishing a state model of the deep space probe according to a circular restrictive track dynamics model; acquiring picture element and picture line information of minor planets and a background fixed star by using a sensor, converting the acquired picture element and picture line information into angle information of the minor planets and the background fixed star and establishing an angle measuring model of the minor planets; and estimating the position and speed of the deep space probe in combination with self-adaptive Unscented Kallman filtering. The method has high estimation accuracy, and is very suitable for independent navigation during minor planet intersection. The method belongs to the technical field of aerospace navigation. By adopting the method, high-accuracy navigation parameters can be provided for the deep space probe, and references can be provided for the design of an independent navigation system of the deep space probe.

The invention discloses a satellite autonomous navigation system and a satellite autonomous navigation method integrating a pulsar radiation vector and timing observation. The system obtains pulse arrival time and accurately obtains a pulsar radiation direction vector by using a time distinguishing detector and a collimator, and obtains a geocentric direction vector by using an infrared or ultraviolet horizon sensor; a navigation computer respectively completes a pulsar timing observation navigation algorithm under a geocentric coordinate system, a pulsar positioning algorithm based on angular distance measurement and a geometric orientation algorithm based on angular distance measurement by using the pulsar pulse arrival time, the radiation direction vector and the geocentric direction vector, and obtains the position, the speed, the attitude and the on-track movement direction of a spacecraft through integration of several algorithms, so as to complete the autonomous navigation of an orbiting satellite, and output high-precision position, attitude and speed information. The system is suitable for autonomous operation control of orbiting satellites or constellations of the earth or other planets.

The invention discloses a vision navigating method for a movement carrier based on the laser plane assistance. The method comprises the following steps: building a distance measurement and environment system, determining the position of a rectangular bright spot to be detected in an image, determining the center coordinate of the rectangular bright spot, obtaining a geometric distance measurement model, correcting the distance measurement model, segmenting the visual image, determining a local vectorization environmental space with distance information, positioning the position of the carrier per se, and building a global environmental space. Through the adoption of the method different from the traditional movement carrier autonomous navigation middle distance obtaining method, a laser plane is introduced as an auxiliary means, a single or a plurality of vision sensors are combined, the threadlike bright spot formed by the reflection of the laser plane on an object to be irradiated is fully utilized and taken as an cooperated distance measurement target, and the geometric relationship between the vision sensor and a laser light source is effectively utilized, so that the requirements for the precision, yield ratio and real-time performance of the distance calculating can be met. Therefore, the method is a reliable navigation method, and can be applied to a movement carrier autonomous navigation system.

There is provided an autonomous navigation system for use in conjunction with a ride vehicle. The autonomous navigation system includes an on-board sensor system for generating on-board sensor data of a surrounding of the ride vehicle. According to this embodiment, the autonomous navigation system further includes a receiver module for receiving off-board sensor data of the surrounding of the ride vehicle. For example, the off-board sensor data can be generated from an off-board sensor system, which includes a plurality of off-board sensors. The autonomous navigation system includes a sensor data fusion module for performing a data fusion process on the on-board sensor data and the off-board sensor data to generate fused sensor data. The autonomous navigation system further includes a navigation module for determining a course of the ride vehicle based on the fused sensor data.