Multispectral Imaging for GNSS-Denied Position and Posture Estimation
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Solution Overview
Problem
Existing technologies face challenges in estimating the position and posture of a moving object in environments where Global Navigation Satellite System (GNSS) communication is interrupted, such as inside tunnels or shielded areas.
Innovation Solution
An estimation apparatus that utilizes a multispectral imaging system mounted on the moving object to capture light emitters from multiple reference stations with different wavelength bands, enabling the processor to estimate the object's position and posture by analyzing image data from these emitters, even in environments where GNSS is unavailable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single-wavelength imaging system is used, then the device complexity is low, but the ability to distinguish light emitters from surroundings in GNSS-denied environments is insufficient
Solution Approach 1:
The imaging system is segmented into multiple imaging units, each dedicated to capturing light in specific wavelength bands. This segmentation allows the system to distinguish light emitters from background by analyzing wavelength-specific characteristics, improving position and posture estimation accuracy while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The system transitions from single-wavelength imaging to multi-wavelength imaging, adding the wavelength dimension to the imaging process. This dimensional expansion enables the system to differentiate light emitters from surrounding objects based on their spectral characteristics, significantly improving reliability in GNSS-denied environments.
2Reliability
If multiple wavelength bands are used for imaging, then light emitters can be distinguished from surroundings, but the use of energy increases
Solution Approach 1:
The imaging system divides the spectrum into discrete wavelength bands with dedicated imaging units. Each unit processes only its assigned wavelength range, enabling efficient energy utilization. The segmented approach allows the system to activate only the necessary imaging units for current operational conditions, reducing overall energy consumption while maintaining reliable light emitter detection.
Solution Approach 2:
The system dynamically adjusts imaging parameters such as exposure time, gain, and wavelength band selection based on environmental conditions and operational requirements. This parameter optimization ensures that energy is consumed only when and where necessary for accurate light emitter detection, balancing reliability with energy efficiency.
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 accurate estimation of the moving object's position and posture by distinguishing light emitters from the surroundings, allowing precise control of the object's movement even in environments with disrupted GNSS communication.
Implementation Method 1
a light emitter that emits light in wavelength bands different from each other
Data Source
AI summary
An estimation apparatus includes a processor, in which the processor is configured to acquire positional information of a plurality of reference stations each having a light emitter that emits light in wavelength bands different from each other, acquire image data obtained by imaging an imaging scene including the light emitter via an imaging apparatus mounted on a moving object, and estimate at least one of a position of the moving object or a posture of the moving object based on an in-image position, which is a position of the light emitter in an image indicated by the image data, and the positional information of the plurality of reference stations.