Trajectory Determination Device for GPS-Denied Geo-Localization
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Solution Overview
Problem
Current GPS-based navigation systems are unreliable in areas with degraded or jammed signals, such as city centers and indoors, and provide unacceptably poor accuracy for autonomous navigation, necessitating alternative geo-localization methods.
Innovation Solution
A trajectory determination device equipped with relative position sensors, processors, and memory that generates relative position signals, transforms them into sequences of relative trajectories, and creates a progressive topology for comparison with map data to determine geolocation, using a combination of inertial measurement units, GPS receivers, and optical sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS-based navigation is used, then geolocation can be obtained in open areas, but it fails in GPS-denied environments such as city centers with high-rise buildings, forests, and indoor areas
Solution Approach 1:
The system segments the geolocation problem into two complementary approaches: GPS-based absolute positioning for open areas and topology-based relative positioning for GPS-denied areas. The GPS receiver provides absolute position when available, while the inertial measurement unit and odometry provide continuous relative positioning, allowing the system to switch between methods based on environment
Solution Approach 2:
The trajectory determination device is designed with multi-functionality to operate in both GPS-available and GPS-denied environments. It integrates multiple sensor types (GPS receiver, inertial measurement unit, odometry sensors) that can function independently or in combination, making the system universally applicable across diverse environments including outdoor open areas, urban canyons, forests, and indoor spaces
2Measurement precision
If standard GPS devices are used for autonomous navigation, then location data can be obtained, but the accuracy is unacceptably poor for autonomous navigation purposes
Solution Approach 1:
The system implements feedback through continuous comparison of the progressive topology derived from sensor data with the expected topology from map data. This feedback loop allows the system to detect deviations and correct positioning errors, significantly improving accuracy for autonomous navigation by continuously validating and adjusting the estimated position based on environmental consistency
Solution Approach 2:
The system merges multiple positioning approaches (GPS absolute positioning, inertial navigation, and odometry-based relative positioning) into a unified trajectory determination device. This combination leverages the strengths of each method while compensating for their individual weaknesses, achieving the high accuracy required for autonomous navigation
3Ease of operation
If GPS signals are used, then navigation can be provided in open areas, but the signals are low powered and can easily be jammed, reducing usefulness in military operations
Solution Approach 1:
The system uses an intermediary approach by relying on local sensor measurements (odometry, inertial sensors) that do not depend on external GPS signals. These sensors act as intermediaries that can determine position and orientation without being susceptible to signal jamming, enabling navigation in military operations where GPS signals may be compromised
4Measurement precision
If topology-based geo-localization is implemented, then accuracy and robustness are improved, but computational complexity increases
Solution Approach 1:
The system performs preliminary action by pre-processing sensor data to create a progressive topology representation as the device moves through the environment. This topology is built incrementally and stored for later comparison with map data, allowing the computationally intensive matching operations to be performed on pre-processed data rather than raw sensor streams, thereby reducing real-time computational complexity
Data Source
AI summary
According to the embodiments provided herein, a trajectory determination device for geo-localization can include one or more relative position sensors, one or more processors, and memory. The one or more processors can execute machine readable instructions to receive the relative position signals from the one or more relative position sensors. The relative position signals can be transformed into a sequence of relative trajectories. Each of the relative trajectories can include a distance and directional information indicative of a change in orientation of the trajectory determination device. A progressive topology can be created based upon the sequence of relative trajectories; this progressive topology can be compared to map data. A geolocation of the trajectory determination device can be determined.