Uti Limited Partnership

Invensense, Inc.

Profound Positioning Inc.

Other

Trusted Positioning, Inc.

Naser El-Sheimy

Jacques Georgy

Zainab Syed

Christopher Goodall

Aboelmagd Noureldin

Chris Goodall

Mohamed Atia

Adel Moussa

Amr Al-Hamad

Bashir Kazemipur

Ahmed Youssef

Michel T Fattouche

Hsiu-Wen Chang

Walid Abdelfatah

Xiaoji Niu

David Bruce Wright

Mohamed Youssef

Maan Essam Khedr

Sameh Nassar

Shady Zahran

Mohamed Elsheikh

Mostafa Sakr

Hussein Ahmed Sahli

Mohamed Moussa

Zhuang Yuan

Adel Mohamed Aly Elsayed Moussa

Andrew Hunter

A vehicle localization system and method includes acquiring, from a first sensor, first data indicative of a first navigation state of a vehicle; acquiring, from a second sensor, second data indicative of an environment in the vicinity of the vehicle; generating, using a processor communicatively coupled to the first sensor and the second sensor, a second navigation state based on matching the second data to a known map of the environment; and, generating, using the processor, a current navigation state based on the first navigation state and the second navigation state.

Vehicle localization system and method

The present embodiments include new methods for low-cost inertial measurement units (IMU) using an extended Kalman filter (EKF) to increase the navigation parameters accuracy or reduce the total RMS errors even during the unavailability of Above Ground Markers (AGM) using new developed method called PipeLine Junctions (PLJ) detection. This method detects the pipeline junctions and adds heading and pitch constraints to the Pipeline Inspection Gauge (PIG) motion between junctions. The results of this such embodiments with a micro-electro-mechanical systems (MEMS) based IMU showed that the position RMS errors have been reduced around 85% of the original applied EKF solution. Therefore, this approach is a useful solution for PIG navigation system.

Methods and systems to enhance pipeline trajectory reconstruction using pipeline junctions

The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.

Methods of attitude and misalignment estimation for constraint free portable navigation

Embodiments of systems and methods for a mobile mapping system are described. In an embodiment, a method includes capturing a plurality of images of an object point using a mobile computing platform. The method may also include determining an initial set of orientation parameters in response to one or more orientation sensors on the mobile computing platform. Additionally, the method may include calculating a corrected set of orientation parameters by matching object points in the plurality of images. Further, the method may include estimating a three-dimensional ground coordinate associated with the captured images in response to the corrected set of orientation parameters.

Mobile mapping system

Systems and methods related to gyroscope related applications. A platform having at least one torus shaped channel that is filled with a liquid is used in conjunction with at least one marker to determine the direction of forces applied to the platform. Each marker is neutrally buoyant within the liquid and a marker tracking system is used to determine the displacement of the marker from its resting place after a force has been applied to the platform. The tracking system may be based on at least one digital camera in conjunction with suitable image processing software to determine the marker's position before, during, and after the force has been applied. A gyroscope can be constructed using three such platforms with each platform being orthogonal to the other two. Each platform may have multiple concentric channels with a common center with each channel having a different sensitivity to the applied forces.

Gyroscope using torus shaped channels and image processing

Systems and methods relating to sensors for measuring acceleration. Two attached containers are each filled with different liquids. At each junction of the two liquids, an indicator is placed. When acceleration forces are applied to the sensor, the indicator moves when the boundary between the two liquids similarly move. The amount of movement of the boundary and of the indicator is proportional to the amount of acceleration for applied. A tracking subsystem tracks the position of the indicator and, by determining the amount of movement of the indicator, the amount of acceleration force applied can be calculated. The indicator can be a particle or it can be a beam-like element that deflects when the boundary between the two liquids move.

Particle based accelerometer

Systems and methods for use in determining a device's speed. The system uses a plate having a front side that is perpendicular to the device's direction of travel. The airflow caused by the device's motion causes the plate to deflect from a resting position and the amount of deflection of the plate is proportional to the speed of the device. The amount of deflection is measured by a rotary encoder coupled to the plate. By properly calibrating the system, the system can determine the device's velocity simply from the airflow caused by the device's motion.

System and method for determining airspeed

Systems and methods for use in aiding an inertial navigation system during a GNSS signal outage. An ultrasonic transceiver is positioned adjacent a wheel of a vehicle and reflections of the emitted signal are used to determine changes of direction and/or to determine a distance traveled by the vehicle. For changes of direction, the transceiver is adjacent to a front wheel such that left or right turns cause the wheel to interrupt a signal path from the transceiver to a reflector. For distance estimates, the transceiver is adjacent a back wheel of the vehicle. The ultrasonic signal is reflected off of solid sections of the wheel or passes through void sections of the wheel. The measurements obtained can be processed in various ways to estimate number of rotations of the wheel and, accordingly, the distance traveled by the vehicle.

Sensor placement and methods for aiding navigation during GNSS signal outage

Systems and methods for detecting and counting steps. Acceleration data is used to determine acceleration norms. Peaks and valleys in the resulting acceleration norms data are then detected. These peaks and valleys are indicative of steps and are validated using measurements from gyroscopes and magnetometers. The systems and methods can thus be used to assist in location tracking and/or navigation.

Step detection using IMU and magnetometer data fusion

Systems and methods are disclosed for determining a navigational constraint for a portable device using an optical sensor. The navigational constraint may be used to supplement other navigational solutions or may be used independently. The optical sensor may capture a plurality of samples to be processed to determine the constraint. Determining the constraint may include any or all of determining a context for usage, distinguishing usage modes, estimating an orientation of the portable device, determining an absolute and/or relative elevation, determining a direction of motion and determining a speed of the portable device from the samples.

Systems and methods for optical sensor navigation

Methods, systems and apparatuses for enhanced Microelectromechanical (MEMS)-based navigation in a mobile device are disclosed. In an embodiment, a method includes receiving navigation data from one or more navigation sensors on board the mobile device. The method may also include calculating, using a processing device, position, velocity, and attitude (PVA) values in response to the navigation data using an Inertial Navigation System (INS) mechanization. Additionally, the method may include calculating, using the processing device, Pedestrian Dead Reckoning (PDR) values in response to the navigation data. Also, the method may include determining, using the processing device, one or more navigation values in response to a combination of the PVA values calculated by the INS mechanization and the PDR values.

Method and apparatus for enhanced pedestrian navigation based on WLAN and MEMS sensors

The present disclosure relates to a method and apparatus for determining the misalignment between a device and a pedestrian, wherein the pedestrian can carry, hold, or use the device in different orientations in a constrained or unconstrained manner, and wherein the device includes an optical sensor or camera. The optical sensors have a corresponding frame for the optical sensors' axes. The misalignment between the device and the pedestrian means the misalignment between the frame of the optical sensor assembly or camera in the device and the frame of the pedestrian. The present method and apparatus can work whether in the presence or in the absence of absolute navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

Method and apparatus for misalignment between device and pedestrian using vision

A method and apparatus for providing an enhanced navigation solution for cycling applications is described herein. The navigation solution is about a device within a platform, which is a cycling platform such as for example a bicycle, a tricycle, or a unicycle amongst others. The device can be in any orientation with respect to the platform (such as for example in any location or orientation on the body of the cyclist). The device includes a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The present method and apparatus can work whether in the presence or in the absence of navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

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Calgary, Canada

Naser El-Sheimy