Flight Vehicle Position Estimation Across GPS-Denied Conditions
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Solution Overview
Problem
Small flight vehicles face challenges in position estimation due to low precision inertial sensors and difficulty in using GPS receivers, leading to inaccurate flight control.
Innovation Solution
A device and method that acquire and combine information from various position estimation systems, including inertial sensors and external sensors like GPS, imaging devices, and barometers, to estimate the position of the flight vehicle, using parameters like time delay and noise properties to correct errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS receiver is used for position estimation, then position estimation accuracy is improved, but it becomes difficult to perform position estimation in locations where GPS signals are weak or unavailable
Solution Approach 1:
The patent combines multiple position estimation systems (GPS receiver, inertial sensor, and alternative systems like visual odometry or radio wave-based systems) into a unified position estimation device. The system dynamically switches between different estimation methods based on environmental conditions, ensuring accurate position estimation whether GPS is available or not.
Solution Approach 2:
The system dynamically selects and switches between different position estimation methods based on real-time conditions. When GPS signals are strong, the system uses GPS-based estimation; when GPS signals are weak or unavailable, it automatically switches to alternative estimation systems, making the system adaptable to various operational environments.
2Adaptability or versatility
If inertial sensor is used for position estimation, then position estimation can be performed in locations where GPS is unavailable, but the low precision of the inertial sensor leads to inaccurate position estimation
Solution Approach 1:
The patent merges inertial sensor-based position estimation with alternative estimation systems (such as visual odometry using imaging devices or radio wave-based positioning). This combination allows the system to maintain position estimation capability in GPS-denied environments while improving accuracy by compensating for inertial sensor drift through sensor fusion.
Solution Approach 2:
The system introduces alternative position estimation systems as intermediaries to bridge the gap when inertial sensor accuracy deteriorates. These intermediate systems (visual, radio wave-based) provide reference information that corrects accumulated errors in inertial navigation, maintaining overall system accuracy.
3Reliability
If multiple position estimation systems are combined, then position estimation accuracy and reliability are improved, but the device complexity increases
Solution Approach 1:
The patent designs a universal position estimation device that can perform multiple estimation functions through a single integrated system. The device includes a switching mechanism that selects from multiple estimation methods, allowing one device to fulfill multiple positioning needs without requiring separate dedicated systems for each method.
Solution Approach 2:
The system uses dynamic switching to manage complexity. Instead of continuously operating all estimation systems simultaneously, the controller dynamically activates only the necessary estimation methods based on current environmental conditions, reducing computational burden and system complexity while maintaining high 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.