Flight Vehicle Position Estimation Across Limited GPS Coverage
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Solution Overview
Problem
Small flight vehicles face challenges in position estimation due to low precision inertial sensors and limited GPS availability, leading to inaccurate flight control.
Innovation Solution
A device and method that acquire and combine information from multiple position estimation systems, including inertial sensors and external sensors like GPS, SLAM, markers, barometers, and ultrasonic sensors, to estimate the position of the flight vehicle, using parameters like time delay and noise properties to correct and enhance position estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS receiver is used for position estimation, then position estimation accuracy is improved in open areas, but position estimation becomes unreliable in locations with limited GPS coverage
Solution Approach 1:
The patent combines multiple position estimation systems (GPS receiver, inertial sensor, and other auxiliary sensors) into a unified estimation framework. The processor integrates data from these diverse sources to produce a reliable position estimate even when GPS coverage is limited, resolving the contradiction between accuracy in open areas and reliability in covered areas.
Solution Approach 2:
The system dynamically adjusts the weighting and parameters of different estimation systems based on environmental conditions. When GPS coverage is available, it prioritizes GPS data for high accuracy; when coverage is limited, it shifts reliance to inertial sensors and other auxiliary systems, maintaining reliability across varying conditions.
2Reliability
If inertial sensor is used for position estimation, then position estimation can be performed anywhere, but estimation accuracy deteriorates due to low sensor precision
Solution Approach 1:
The patent merges inertial sensor data with GPS receiver data and other auxiliary sensor data. The processor fuses these multiple information sources to compensate for the low precision of the inertial sensor while maintaining the ability to operate anywhere, thus improving accuracy without sacrificing availability.
Solution Approach 2:
The system uses feedback from GPS receiver and other auxiliary sensors to continuously correct and refine the inertial sensor-based position estimates. This feedback mechanism allows the inertial sensor to provide continuous coverage while periodic corrections from more accurate sources maintain overall estimation accuracy.
3Reliability
If multiple position estimation systems are combined, then position estimation reliability is improved, but system complexity increases
Solution Approach 1:
The patent implements a universal position estimation framework that can accommodate multiple different estimation systems through a common processing architecture. The processor is designed to handle various sensor types and estimation methods uniformly, reducing the complexity that would otherwise arise from managing multiple specialized systems.
Solution Approach 2:
The processor acts as an intermediary that mediates between multiple position estimation systems. It standardizes the interface and data flow between different sensors and estimation algorithms, simplifying the overall system architecture while maintaining the benefits of multi-system integration for improved reliability.
Data Source
AI summary
Provided is a device including an acquisition unit that acquires information indicating a position estimation system selected from among a plurality of position estimation systems for estimating a position of a flight vehicle, and a position estimation unit that estimates the position of the flight vehicle from first information generated by using an inertial sensor of the flight vehicle and second information generated through the position estimation system based on a parameter for the position estimation system.