IMU Dead-Reckoning for GPS-Denied 3D Visualization Positioning
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Solution Overview
Problem
Existing methods for determining the location of an item of interest on a target object, such as an airplane, in environments with limited or no GPS coverage are inadequate, leading to high probability of location errors due to reliance on subjective visual comparisons and lack of accurate positioning data.
Innovation Solution
An imaging device equipped with an inertial measurement unit (IMU) and a processor configured with a 3-D visualization application, which uses dead-reckoning and step counting to track movement and calculate relative position and orientation, enabling the display of a 3-D model image and identification of parts based on captured images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS-based positioning is used to determine location of items on target objects, then positioning accuracy is improved in outdoor environments, but the system becomes inapplicable in indoor environments without GPS coverage
Solution Approach 1:
The patent introduces an inertial measurement unit (IMU) as an intermediary positioning system that operates independently of GPS. The IMU uses accelerometers, gyroscopes, and magnetometers to measure motion and orientation, providing positioning capability in environments where GPS signals are unavailable, thus resolving the contradiction between positioning accuracy and environmental adaptability
Solution Approach 2:
The system transitions from relying solely on GPS satellite signals to using IMU sensor data parameters (acceleration, angular velocity, magnetic field) for positioning. This parameter change enables the system to function in both outdoor GPS-available and indoor GPS-denied environments, maintaining positioning accuracy across different environmental conditions
2Ease of operation
If visual comparison with technical data is used to identify parts, then part identification can be performed without specialized equipment, but location error probability increases due to subjective assessment
Solution Approach 1:
The patent replaces the manual visual comparison method with an automated image processing and pattern recognition system. The system captures images with the mobile device, automatically processes them through algorithms, and compares them with technical data databases to identify parts and their locations, thereby eliminating subjective assessment while maintaining ease of operation
Solution Approach 2:
The system creates digital copies of technical data (drawings, 3-D models, manual illustrations) and stores them in a database. These digital copies are then automatically compared with captured images using image processing algorithms, replacing the need for manual visual comparison and providing objective, accurate location identification
3Adaptability or versatility
If dead-reckoning with IMU and step counting is used for positioning, then GPS-independent location tracking is achieved, but cumulative position drift occurs over longer distances and times
Solution Approach 1:
The patent implements feedback mechanisms where the system continuously monitors IMU data quality, step detection accuracy, and position estimates. When drift is detected or when GPS signals become available, the system uses this feedback to correct accumulated errors and recalibrate the positioning system, thereby maintaining accuracy over longer distances and time periods
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution provides accurate short- to medium-range position information without GPS, allowing for precise identification of parts on target objects in various environments, including indoor settings, by combining IMU orientation data with walking step information to produce a piecewise linear approximation of motion, thus improving location estimation and part identification accuracy.
Implementation Method 1
An inertial measurement unit (IMU) is used to track movement of the imaging device
Implementation Method 2
counting the number of walking steps taken during walking along the path by detecting a repeating characteristic of the vertical acceleration data
Data Source
AI summary
Apparatus and methods for displaying a three-dimensional model image of a portion of a target object. An imaging device is equipped with an inertial measurement unit (IMU) and a processor configured to execute a three-dimensional (3-D) visualization application. The IMU is used to track movement of the imaging device relative to a known initial location in a frame of reference of the target object. Imaging device position offsets are computed using relative position and orientation information acquired by a dead-reckoning process. The processor is configured to execute an algorithm that combines orientation data from the IMU with walking step information to produce a piecewise linear approximation for relative motion measurement. The resulting relative location data can then be used by the 3-D visualization application to provide an estimated 3-D viewpoint to display a 3-D model of a feature in the imaged area of interest.