Single-Element Rangefinder 3D Mapping for GPS-Denied Navigation
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Solution Overview
Problem
Unmanned sensor platforms face challenges in providing reliable localization and mapping in GPS-denied environments due to size, weight, and power constraints, with conventional navigation systems failing in conditions like darkness or thick smoke, and vision-based systems struggling with reflective surfaces and limited spatial resolution.
Innovation Solution
A three-dimensional localization and mapping system utilizing a single element rangefinder (SER) coupled with a gimbal system to adjust orientation and a logic device generating horizontal and vertical occupancy maps, enabling precise mapping and localization in challenging environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional navigation systems are used, then the system can operate in standard conditions, but it fails in GPS-denied environments like darkness or thick smoke
Solution Approach 1:
The patent replaces GPS-based electronic navigation with a passive optical ranging system that uses a single element rangefinder to measure distances to environmental features. This substitution enables operation in GPS-denied environments by relying on optical measurements rather than satellite signals, thereby improving reliability in challenging conditions while maintaining system simplicity.
Solution Approach 2:
The patent introduces a single element rangefinder as an intermediary measurement device that bridges the gap between the mobile platform and the environment. By measuring distances to passive environmental features without requiring active illumination or complex transmitters, the system achieves reliable localization in darkness and smoke while keeping the platform lightweight.
2Measurement precision
If vision-based systems are used, then spatial mapping can be achieved, but performance degrades on reflective surfaces and with limited spatial resolution
Solution Approach 1:
The patent replaces active vision-based mapping systems with a passive optical ranging approach using a single element rangefinder. This substitution eliminates the problems associated with reflective surfaces by measuring the time of flight of light rather than relying on image intensity, thereby achieving precise spatial mapping without being affected by surface reflectivity issues.
Solution Approach 2:
The patent uses a single element rangefinder instead of complex multi-element sensor arrays, achieving adequate spatial mapping precision with a simpler, more robust device that is less susceptible to interference from reflective surfaces while maintaining sufficient measurement capability for navigation.
3Measurement precision
If multiple sensors are used to improve localization accuracy, then measurement precision increases, but device complexity and weight increase
Solution Approach 1:
The patent extracts only the essential ranging function from complex multi-sensor systems, using a single element rangefinder to obtain sufficient localization precision. By taking out only the necessary measurement capability rather than using complete sensor suites, the system achieves adequate position estimation accuracy while dramatically reducing device complexity and weight for unmanned platforms.
Solution Approach 2:
The patent employs a single element rangefinder instead of multiple expensive sensors, achieving acceptable measurement precision for navigation purposes with a simpler, lighter device. This approach prioritizes sufficient performance over maximum precision, reducing overall system complexity while maintaining operational capability.
4Loss of information
If comprehensive mapping systems are used, then three-dimensional mapping capability is achieved, but power consumption and weight increase
Solution Approach 1:
The patent extracts only the essential spatial information needed for navigation from comprehensive mapping systems, using a single element rangefinder to obtain sufficient three-dimensional spatial data. By taking out only the necessary ranging capability rather than implementing full active sensing systems, the system achieves adequate spatial information completeness while dramatically reducing power consumption for extended operational endurance.
Solution Approach 2:
The patent uses a single element rangefinder instead of power-intensive multi-sensor mapping systems, achieving sufficient three-dimensional spatial awareness with minimal power consumption. This approach accepts good-enough spatial information for navigation purposes while prioritizing energy efficiency to extend operational duration of the unmanned platform.
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
Enhances operational flexibility and reliability of unmanned platforms by providing robust position and orientation estimates, even in GPS-denied conditions, using a lightweight SER to create detailed three-dimensional maps.
Implementation Method 1
the SER may include a single ranging sensor element and that may be used to provide ranging sensor data indicating a distance between the SER and a surface intercepting a sensor axis of the SER corresponding to the single ranging sensor element
Data Source
AI summary
Localization and mapping systems and related techniques are provided to improve the operation of unmanned mobile sensor or survey platforms. A localization and mapping system includes a logic device configured to communicate with a single element rangefinder (SER) coupled to a mobile platform, where the SER is configured to provide ranging sensor data indicating a distance between the SER and a surface within a survey area. The logic device generates a horizontal planar occupancy map, generates a vertical planar occupancy map, and determines a three-dimensional occupancy map based on the horizontal planar occupancy map and the vertical planar occupancy map.