Honeywell International Inc.

Honeywell G.m.b.h.

Randolph G Hartman

Michael Ray Elgersma

Kim A Class

Lawrence C Vallot

Wesley J Hawkinson

James E Lenz

Wayne A Soehren

Mark A Ahlbrecht

Kailash Krishnaswamy

Kevin D Vanderwerf

Mark T Manfred

Duke Buster

Kevin Sweeney

Robert D Girts

Brett J Helgeson

A system and method for collaborative navigation is provided. The system comprises a first mobile unit, at least one inertial measurement unit on the first mobile unit, and at least one environment sensor on the first mobile unit. A navigator module in the first mobile unit is configured to receive inertial data from the inertial measurement unit. An object characterization module is configured to receive sensor data from the environment sensor and a navigation solution from the navigator module. A common object geo-locator module is configured to receive a first set of descriptors from the object characterization module and a second set of descriptors from another mobile unit. A data association module is configured to receive common descriptors from the common object geo-locator module. The first mobile unit is configured to operatively communicate with one or more additional mobile units that are configured for collaborative navigation with the first mobile unit.

System and method for collaborative navigation

Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.

Correlation position determination

A range measurement device is disclosed. The device comprises a flash laser radar configured to produce a first laser pulse at a first time. The device receives, at a second time, reflections of the first laser pulse from at least one object within a 360 degree field of view. The device further comprises a timing electronics module, an image sensor in communication with the timing electronics module, a mirror element coupled between the image sensor and the laser radar, and a lens. The mirror element includes a first reflector configured to disperse the reflections of the first laser pulse within at least a portion of the 360 degree field of view and a second reflector configured to collect returning reflections of the first laser pulse from the at least one object into the image sensor. The lens is configured to focus the returning reflections onto the image sensor.

Range measurement device

A method for marking a position of a real world object on a see-through display is provided. The method includes capturing an image of a real world object with an imaging device. A viewing angle and a distance to the object are determined. A real world position of the object is calculated based on the viewing angle to the object and the distance to the object. A location on the see-through display that corresponds to the real world position of the object is determined. A mark is then displayed on the see-through display at the location that corresponds to the real world object.

Method and apparatus for marking a position of a real world object in a see-through display

A method for combining range information with an optical image is provided. The method includes capturing a first optical image of a scene with an optical camera, wherein the first optical image comprising a plurality of pixels. Additionally, range information of the scene is captured with a ranging device. Range values are then determined for at least a portion of the plurality of pixels of the first optical image based on the range information. The range values and the optical image are combined to produce a 3-dimensional (3D) point cloud. A second optical image of the scene from a different perspective than the first optical image is produced based on the 3D point cloud.

Method and apparatus for combining range information with an optical image

A stereo camera comprises at least one image sensor; a first surface configured to direct a first view of an area to the at least one image sensor, the first view comprising an approximately 360 degree view of the area; and a second surface configured to direct a second view of the area to the at least one image sensor, the second view comprising an approximately 360 degree view of the area; wherein the at least one image sensor is configured to capture the first and second views in at least one image.

Stereo camera having 360 degree field of view

An apparatus for aligning an aircraft with an area on the ground is provided. The apparatus includes an aircraft having an on-board landing system, the on-board landing system configured to record an image of an area on the ground. The apparatus also includes a location marker on the area of the ground, and a stored image showing at least a portion of the area of the recorded image. The on-board landing system is configured to obtain information from the location marker and use the information to align the recorded image with the stored image.

Apparatus and method for aligning an aircraft

A method for navigating underwater is disclosed. The method uses a navigation system to project a first velocity measurement along one or more signal beams having a second velocity measurement, where the second velocity measurement is related to at least one of the one or more signal beams. The method determines a position and location of an object associated with the navigation system based on a prediction of at least the second velocity measurement, and the navigation system is adjusted to perform within a prescribed measurement range based on a covariance of the first and second velocity measurements. The performance adjustments made in determining the position and location of the object are operable independent of the navigation system maintaining each of the signal beams due to one or more external environmental conditions.

Methods and systems for underwater navigation

A method for characterizing distortions in the earth's magnetic field caused by a vehicle having a magnetometer affixed therein is described. The method includes repeatedly measuring the distorted magnetic field utilizing the magnetometer and obtaining a three-dimensional orientation of the vehicle axes with respect to the earth at a time of each magnetometer measurement. The method also includes receiving undistorted earth magnetic field data for the vicinity of the vehicle relative to the earth at the time of each magnetometer measurement and characterizing distortions caused by one or more of the vehicle and magnetometer errors utilizing the magnetic field measurements, the orientations of the vehicle, and the undistorted earth magnetic field data.

Methods and apparatus for automatic magnetic compensation

An arrangement and appertaining method utilizing the arrangement provides a cost effective way to implement an accurate and cost effective satellite positioning differential augmentation system. This hybrid system integrates a network of Ground Based Augmentation Systems (GBAS) with a Satellite Based Augmentation System (SBAS), permitting the high integrity features of the GBAS to be utilized with the much broader coverage area of the SBAS system without requiring significant expenditures that would be required for upgrading either of the systems independently.

Apparatus for improved integrity of wide area differential satellite navigation systems

A fail operational system including two sets of first and second sensors responsive to different stimuli to produce signals indicative of a condition, and a comparator for comparing the outputs of the first and second sensors to produce a 'valid' signal when the outputs are substantially the same.

Fail safe system with common mode avoidance

A differential ground station repeater in which a plurality of transmitters are utilized to relay information to an aircraft from a single ground station situated to receive satellite information and to transmit the satellite and other information to the plurality of correction transmitters in which the transmitters utilize a single frequency but transmit at different described sub-time slots so that the aircraft may utilize the signal of any of the transmitters it may be receiving signals.

Differential ground station repeater

A pair of antennae in combination with a GPS signal receiver system is employed for detecting the reception of satellite information signals from a spoofing signal transmitter as opposed to those satellite information signals transmitted aboard each of the satellite vehicles which form a satellite positioning system. As described herein, an indication of the pointing angle between the antennae and the actual transmitter transmitting the satellite information signals is detected. The pointing angle and/or alternatively the range difference may be observed by monitoring the behavior of the pseudo random code associated with the carrier of the satellite information signal, or the carrier itself. In turn, pseudo range measurements, pseudo range rate measurements, carrier phase measurements, and or Doppler count measurement associated with the two antennae may be use to obtain the desired discriminant.

Growing community of inventors

Plymouth, MN, United States of America

Randolph G Hartman