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

Claim 0:
1. A method for providing an integrated navigation solution for a device within a platform, the method comprising:
a) obtaining motion sensor data from a sensor assembly of the device,
b) obtaining optical samples from at least one optical sensor for the platform;
c) obtaining map information for an environment encompassing the platform;
d) generating an integrated navigation solution for the platform based at least in part on the obtained 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 generating comprises:
i) using the obtained motion sensor data in the nonlinear state estimation technique; and
ii) integrating the optical samples directly by updating the nonlinear state estimation technique using the nonlinear measurement model and the map information; and
f) providing the integrated navigation solution for the platform.