The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 24, 2021
Filed:
Jun. 02, 2016
Mitsubishi Electric Corporation, Tokyo, JP;
MITSUBISHI ELECTRIC CORPORATION, Tokyo, JP;
Abstract
An attitude estimation apparatus () includes: a data acquiring unit () for acquiring observation data; a range-measurement point coordinate calculator (A) for calculating geodetic coordinates of a range-measurement point in a geodetic coordinate system using positioning data, ranging data, actual attitude data, and an estimated value of an unknown parameter representing an attitude of a flying object; an image coordinate calculator (B) for calculating coordinates of a projected point by performing projection transformation from the geodetic coordinate system to an image coordinate system on the geodetic coordinates; an image matching processor () for detecting image coordinates of the range-measurement point appearing in a first captured image by executing image matching between the first captured image and a second captured image selected from captured images; and an attitude estimator () for correcting the estimated value such that a magnitude of a difference between the coordinates of the projected point and the image coordinates decreases.