Patent ID: 11875519
Assignee: nan
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 19:
20. A system for providing an integrated navigation solution for a device within a platform, comprising:
a device having a sensor assembly configured to output motion sensor data;
at least one optical sensor for the platform configured to output optical samples; and

at least one processor, coupled to receive the motion sensor data, the optical samples, and map information for an environment encompassing the platform, and operative to:
A) generate an integrated navigation solution based at least in part on the motion sensor data using a nonlinear state estimation technique, wherein a prediction phase involving a system model is used to propagate predictions about a state of the platform and an update phase involving at least one measurement model relating measurements to the state is used to update the state of the platform, wherein the nonlinear state estimation technique comprises using a nonlinear measurement model for optical samples, wherein depth from the optical samples is utilized, wherein integrating the motion sensor data and the optical samples in the nonlinear state estimation technique is tightly-coupled, and wherein the at least one processor generates the integrated navigation solution by:
1) using the obtained motion sensor data in the nonlinear state estimation technique; and
2) integrating the optical samples directly by updating the nonlinear state estimation technique using the nonlinear measurement model and the map information; and
B) provide the integrated navigation solution.