GNSS/INS Post-Processing Reliability Filtering for Navigation Mapping
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Solution Overview
Problem
Conventional navigation mapping systems face challenges in providing precise location information in environments with significant signal blockage, requiring high-quality IMUs and consuming excessive time and processing resources, especially when using camera image data for calculations.
Innovation Solution
A navigation mapping system that selectively performs complex processing operations only on GNSS/INS measurement data and image data associated with unreliable solutions, using a reliability processor to determine reliable position, velocity, and attitude information, and applying additional processing to adjust and improve solutions using image data where necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex processing operations are performed on all GNSS/INS measurement data and image data to achieve precise location information, then measurement precision is improved, but loss of time and use of energy increase significantly
Solution Approach 1:
The patent segments the processing workflow into two distinct stages: a first processing stage that performs basic GNSS/INS data processing on all measurements, and a second processing stage that performs complex image data processing only on selected subsets. This segmentation allows the system to avoid applying computationally intensive operations to all data while still achieving precise location information where needed.
Solution Approach 2:
The patent applies different processing quality levels to different portions of the data based on local requirements. By evaluating the reliability of position solutions from the first processing stage, the system identifies specific time periods or locations where complex processing is necessary, rather than uniformly applying complex processing to all data. This local quality approach optimizes the balance between precision and processing efficiency.
2Measurement precision
If complex processing operations are performed on all GNSS/INS measurement data and image data to achieve precise location information, then measurement precision is improved, but use of energy increases significantly
Solution Approach 1:
The patent segments the processing workload to minimize energy consumption. The first processing stage handles all GNSS/INS data with low energy requirements, while the second processing stage handles only a subset of image data with high energy requirements. This segmentation ensures that expensive energy-consuming operations are performed only when necessary to achieve the required precision.
Solution Approach 2:
The system applies high-quality complex processing only to specific portions of data where it is most needed, rather than uniformly processing all data. By identifying time periods or locations where position solutions lack sufficient reliability, the system concentrates energy-consuming processing resources only where they will have the greatest impact on precision.
3Measurement precision
If high quality IMUs are used to achieve precise location information in signal-blocked environments, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent merges multiple data sources and processing approaches: GNSS measurement data, INS measurement data, and camera image data are combined and processed together. This fusion allows the system to achieve precise location information using lower-quality IMUs by compensating for their limitations through the additional information provided by image data processing in challenging environments.
Solution Approach 2:
The system dynamically adjusts the processing approach based on environmental conditions and data reliability. In signal-blocked environments where GNSS data alone is insufficient, the system activates complex image data processing to supplement the INS data, effectively adapting the processing strategy to maintain precision without requiring always-high-quality IMUs.
4Productivity
If complex processing operations are selectively performed only on unreliable solutions, then productivity is improved, but measurement precision may be compromised
Solution Approach 1:
The patent implements a feedback mechanism where the results of the first processing stage are evaluated to identify which position solutions lack sufficient reliability. This feedback information guides the selection of which data subsets should undergo second processing, ensuring that complex operations are applied precisely where needed to maintain precision while avoiding unnecessary processing elsewhere.
Solution Approach 2:
The system performs preliminary processing of all GNSS/INS data in the first stage to establish a baseline and identify reliability issues before applying complex image data processing. This preliminary action allows the system to pre-identify which time periods or locations require enhanced processing, optimizing both productivity and precision by avoiding both over-processing and under-processing.
Data Source
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AI summary
A system for performing post processing of GNSS and INS measurement data and image data to provide highly accurate location information for a camera, an INS measurement unit or both performs first processing operations using the GNSS and INS measurement data, to determine position, velocity and attitude solutions. The system then analyzes the solutions to determine which measurement data provide sufficiently reliable solutions from which to determine the precise position, velocity and attitude of the camera, and thus, which measurement data do not provide sufficiently reliable solutions. The system and method then performs more time consuming and processing intensive processing operations using the measurement data and camera image data that arc associated with solutions that are not sufficiently reliable.