LIDAR Object Correlation for GPS-Denied Navigation
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Solution Overview
Problem
Existing location determination methods for vehicles, such as GPS, are limited by satellite visibility and require human intervention, especially in repetitive travel patterns, and lack efficiency in areas where satellite signals are unavailable.
Innovation Solution
A method using a 360-degree laser imaging and ranging device (LIDAR) to store and correlate distance and angle data to objects during initial traversal, allowing for subsequent location and heading estimation without external signals, combined with inertial sensors for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS is used to determine vehicle location, then location determination is available, but GPS signals may not be available in locations where satellite visibility is impossible
Solution Approach 1:
The patent introduces an intermediary system consisting of LIDAR sensors and pre-stored map data that mediates between the vehicle and the environment for location determination. This intermediary system enables location determination through correlation of sensed object ranges with stored map data, bypassing the need for direct satellite visibility while maintaining reliable location determination in GPS-denied environments.
2Productivity
If operator-less vehicles are used for repetitive travel patterns, then operational efficiency is improved, but navigation accuracy and location determination become more critical
Solution Approach 1:
The patent applies preliminary action by pre-storing detailed map data including ranges and angles to objects along the travel path before the vehicle operates. This pre-stored data serves as a reference for correlating with real-time LIDAR measurements, enabling accurate location determination without requiring complex real-time processing or external signals, thus supporting both high productivity and measurement precision for operator-less vehicles.
3Difficulty of detecting and measuring
If conventional radar is used to detect roadside objects, then object detection is achieved, but the system complexity and computational requirements increase
Solution Approach 1:
The patent uses LIDAR to create optical copies (range and angle measurements) of the environment that are then correlated with pre-stored map data copies. This copying approach simplifies the detection process by comparing simplified range-angle representations rather than processing complex raw sensor data, reducing system complexity while maintaining effective object detection capability for navigation purposes.
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
Enables efficient and accurate vehicle location determination and navigation in areas with limited satellite visibility, reducing the need for human intervention and improving navigation accuracy through data correlation and sensor fusion.
Implementation Method 1
a 360-degree laser imaging and ranging device (LIDAR) to store and correlate distance and angle data to objects
Implementation Method 2
laser imaging and ranging device
Data Source
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AI summary
Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.