Patent ID: 9435651
Filing Date: 2016-09-06
CPC Classification: G01C,G01S

Claim Text:
1. A system for providing navigation and location information for a vehicle to navigate among a plurality of stacked containers located within a cargo port environment, comprising: a Global Navigation Satellite System (GNSS) system configured to provide GNSS location information related to the vehicle; an inertial navigation system operatively interconnected with the GNSS system, the inertial navigation system configured to provide inertial location information related to the vehicle; an image capture device configured to obtain one or more images of a fixed field of view of the plurality of stacked containers; a vision system configured to determine vision system location information using the one or more captured images, wherein the vision system location information comprises scaling information of the plurality of stacked containers, wherein the GNSS system, the inertial navigation system and the vision system share a common clock; and a processor configured to set up various matrices for a Kalman filter to determine a location of the vehicle and to navigate the vehicle among the plurality of stacked containers located within the cargo port environment using the GNSS location information, the inertial location information and the vision system location information, wherein the processor is located on the vehicle with the GNSS system, inertial navigation system, image capture device, and vision system.