Landmark-Based Position Correction for GPS and IMU Navigation
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Solution Overview
Problem
Positioning systems, such as GPS, face accuracy issues due to errors from unsynchronized satellite operations, user clock errors, and atmospheric propagation delays, leading to inaccuracies in determining a device's location.
Innovation Solution
A system that combines GPS position information with inertial measurement unit (IMU) data and image sensor data from landmarks, using map data to calculate a first and second estimate of a landmark's position, and then adjusts the GPS position by determining a position offset to improve accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS positioning is used to determine device location, then position information can be obtained, but accuracy is reduced due to errors from unsynchronized satellite operations, user clock errors, and atmospheric propagation delays
Solution Approach 1:
The system uses visual feedback from image sensors to detect landmarks and compares the detected landmark positions with expected positions from map data. This feedback loop generates position offset data that is applied to correct GPS position information, thereby improving accuracy while maintaining system reliability
Solution Approach 2:
The patent introduces an intermediary correction mechanism using image sensors and map data to generate position offset data. This intermediary system acts as a mediator between the unreliable GPS positioning and the actual device position, filtering out errors through landmark-based verification and providing corrected position information
2Measurement precision
If multiple sensors and data sources are combined to improve position accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The processor performs multiple functions using the same hardware components: it processes GPS position information, captures and analyzes image data, determines device orientation from IMU measurements, and generates corrected position output. This multi-functionality approach improves position accuracy without proportionally increasing device complexity
Solution Approach 2:
The system merges multiple data sources (GPS position information, image sensor data, IMU measurements, and map data) into a unified position correction process. By combining these elements through landmark identification and offset calculation, the system achieves higher measurement precision while managing complexity through integrated processing
Data Source
AI summary
A system includes a memory and a processor. The memory is configured to store map data indicating positions of landmarks. The processor is configured to receive image data from an image sensor. The processor is also configured to determine, based on the image data, a first estimate of a position, relative to the image sensor, of a landmark identified in the map data. The processor is configured to determine orientation of the image sensor based on inertial measurement unit measurements. The processor is also configured to determine, based on position information, the orientation, and the map data, a second estimate of the position of the landmark. The processor is configured to determine position offset data based on a comparison of the first estimate and the second estimate. The processor is also configured to generate, based on the position offset data and the position information, an output indicating an adjusted position.