Mobile Platform Positioning via SPS and Visual-Inertial Odometry Smoothing
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Solution Overview
Problem
Satellite Positioning Systems (SPS) measurements alone have inherent errors that can lead to significant position drift over time, particularly in vehicular and robotics applications, where accurate route planning and mapping are critical, and Visual-Inertial Odometry (VIO) systems provide high-quality displacement estimates but can accumulate errors.
Innovation Solution
A method that combines SPS and VIO measurements to determine a mobile platform's trajectory by obtaining SPS signals and VIO data, aligning local and global reference frames, and adjusting position estimates using a smoothing parameter to generate a smoothed trajectory, thereby improving accuracy and reducing drift.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If SPS measurements are used for position determination, then coverage area is improved, but measurement precision deteriorates due to inherent errors of several meters
Solution Approach 1:
The patent combines SPS measurements with VIO measurements to create a hybrid positioning system. The SPS provides global coverage while the VIO provides high-precision local positioning. By merging these two systems through a smoothing algorithm that fuses their respective measurements, the system achieves both wide coverage and high measurement precision, resolving the contradiction between coverage area and position accuracy.
2Measurement precision
If VIO measurements are used for position determination, then measurement precision is improved with errors less than 1%, but reliability deteriorates due to error accumulation over time
Solution Approach 1:
The patent implements a feedback mechanism where the SPS position estimates serve as periodic corrections to the VIO position estimates. The smoothing algorithm continuously monitors the accumulated VIO errors and uses SPS measurements to provide corrective feedback, resetting the drift and maintaining long-term reliability. This feedback loop allows the system to maintain high measurement precision while preventing error accumulation that would otherwise compromise reliability.
3Measurement precision
If SPS and VIO measurements are combined, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent creates a multi-functional positioning system where the mobile platform simultaneously performs SPS reception, VIO processing, and fused position estimation through a unified smoothing algorithm. This universal system handles multiple positioning functions (global positioning, local high-precision positioning, drift correction) within a single integrated framework, reducing the need for separate dedicated systems and managing the complexity of combining multiple measurement sources.
Data Source
AI summary
A method of determining a trajectory of a mobile platform includes obtaining a satellite positioning system (SPS) measurement from one or more SPS signals acquired by an SPS receiver of the mobile platform. The method also includes obtaining a visual-inertial odometry (VIO) measurement of the mobile platform from a VIO system of the mobile platform. A first position estimate of the mobile platform is determined based, at least in part, on the SPS measurement and the VIO measurement. The method then includes adjusting the first position estimate to generate a smoothed position estimate based, in part, on a smoothing parameter that controls a smoothness of the trajectory. The trajectory of the mobile platform is then determined, at least in part, using the smoothed position estimate.