Hybrid Robot Navigation for Multipath-Resistant Satellite Positioning
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Solution Overview
Problem
Autonomous mobile robots using satellite-based positioning systems face inaccuracies due to multipath interference and lack of line-of-sight satellite signals, especially in environments with obstructing objects.
Innovation Solution
A hybrid sky and ground navigation system that generates a navigation map with sky scores indicating satellite signal accuracy and ground scores indicating terrain accessibility, allowing the robot to modify its path and positioning algorithm to avoid interference and rely on ground-based information when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite-based positioning is used for navigation, then the robot can determine its current position and follow pre-planned paths, but the positioning accuracy deteriorates due to multipath interference and lack of line-of-sight satellite signals
Solution Approach 1:
The navigation system is segmented into multiple independent positioning methods: satellite-based positioning and ground-based visual positioning. Each method operates independently and can be selected based on environmental conditions. The system divides the navigation problem into segments that can be solved by different techniques depending on the situation.
Solution Approach 2:
The system dynamically changes positioning parameters by switching between satellite-based and ground-based visual positioning methods. When satellite signals are blocked or experience multipath interference, the system transitions to using visual odometry and feature tracking parameters from ground-based cameras, adapting to changing environmental conditions.
2Reliability
If the robot uses ground-based information for navigation, then it can detect obstacles and modify paths, but it cannot accurately determine its current position in areas with obstructed sky views
Solution Approach 1:
The system merges satellite-based positioning data with ground-based visual positioning data into a unified navigation framework. By combining the global position information from satellites with local visual feature tracking from ground-based cameras, the system achieves both accurate position determination and reliable obstacle detection, even when one method is compromised.
Solution Approach 2:
The system introduces an intermediary positioning mechanism that bridges satellite-based and ground-based methods. When satellite signals are unavailable, the intermediary system uses visual odometry and map matching to maintain position accuracy, while ground-based sensors continue to provide obstacle detection capabilities.
3Adaptability or versatility
If the robot navigates through areas with obstructing objects, then it can access difficult-to-reach locations, but the satellite signal quality deteriorates due to multipath interference
Solution Approach 1:
The positioning system dynamically adapts to changing signal conditions by continuously monitoring satellite signal quality and transitioning between positioning methods. When the robot enters areas with obstructing objects, the system dynamically switches from satellite-based positioning to ground-based visual positioning, maintaining navigation flexibility while compensating for signal degradation.
Data Source
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AI summary
Disclosed are techniques for navigating a mobile machine, such as an autonomous robot, in an environment that includes objects that may block, reflect, or distort satellite signals to be used for positioning. Satellite data may be captured from one or more satellites. An image may be captured using an imaging device that is at least partially oriented toward the one or more satellites. A set of sky scores may be calculated for a set of ground positions surrounding the mobile machine based on the satellite data and the image. Each of the set of sky scores may be indicative of an accuracy of a satellite-based position at one of the set of ground positions. The mobile machine's navigation may be modified using the set of sky scores.