Mobile Platform for Cavity Navigation with GNSS Relay
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Solution Overview
Problem
Current navigation and mapping systems in complex, unstructured environments like caves, tunnels, and wrecked buildings face challenges with accurate initial positioning and localization due to lack of satellite line of sight, leading to difficulties in creating accurate maps and navigating these spaces efficiently.
Innovation Solution
A mobile platform equipped with a location determination component, such as a GNSS rover, and a dynamic system that includes a winch and cable for inserting and retrieving a scanning device, allowing for initial orientation and continuous location tracking within the cavity, enabling accurate mapping and navigation by associating real-world coordinates with cavity positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS/GNSS is used for positioning in indoor areas, then real-world coordinates can be obtained at entrances, but satellite line of sight is blocked inside cavities leading to localization errors
Solution Approach 1:
The patent introduces an intermediary system consisting of external reference stations and portable reference devices that relay positioning information into cavities where direct satellite signal reception is blocked. These reference devices act as mediators, receiving satellite signals outside the cavity and transmitting positioning data inside, thereby enabling continuous localization without direct line of sight to satellites.
Solution Approach 2:
The system performs preliminary positioning by establishing a network of reference stations and portable reference devices before entering the cavity. These devices pre-establish coordinate systems and positioning references that can be used throughout the cavity exploration, eliminating the need for real-time satellite signal acquisition inside the cavity.
2Adaptability or versatility
If mapping devices are deployed in complex unstructured environments, then cavity mapping can be performed, but accurate initial positioning and continuous localization become difficult
Solution Approach 1:
The patent implements feedback mechanisms where portable reference devices continuously monitor and report their positions relative to the established coordinate system. This feedback loop allows the system to maintain accurate localization throughout cavity exploration by constantly updating position information based on pre-established references and real-time device tracking.
Solution Approach 2:
The system replaces reliance on satellite-based mechanical positioning (GPS/GNSS) with an artificial reference system using portable reference devices and coordinate transformations. This substitution enables positioning in environments where the natural satellite-based mechanical system fails due to signal blockage.
3Manufacturing precision
If multiple components including cameras and SLAM devices are used, then mapping functionality is enhanced, but device complexity and sensitivity to localization errors increase
Solution Approach 1:
The patent combines multiple mapping components (cameras, SLAM devices, sensors) into an integrated mobile platform that operates under a unified positioning framework. By merging these components and coordinating them through a common reference system, the patent reduces the sensitivity to individual component failures and simplifies the overall system architecture while maintaining high mapping quality.
Data Source
AI summary
A mobile platform for operating a system comprising a mobile device and a location determination component, and a method, the mobile platform includes one or more stands collectively having a hollow for stably receiving the mobile device. A location determination device can be placed in at least two locations on the stands, thereby enabling to obtain an initial orientation of the mobile device. The location determination device is also adapted to obtain a location indication of a location associated with a cavity. During operation of the system, the mobile device is removed from the hollow after the orientation is obtained, moved within a cavity, and provides location information, thereby providing descriptive information of the cavity associated with real world coordinates.