Patent ID: 8275193
Filing Date: 2012-09-25
Classification: G06K,G06T

Abstract:
1. A method of three dimensional positioning of objects, comprising the steps of: (a) injecting raw measurements from two or more sensors into a data fusion system to derive relative position and attitude information of objects; (b) tracking at least four common GPS (Global Positioning System) satellites simultaneously by means of AERCam (autonomous Extravehicular Activity Robotic Camera) (c) optimally blending multipath signal and GPS signal due to any intermittently fail of relative GPS-alone when said AERCam (d) initializing an inertial navigation system when a GPS solution is available and using said GPS solution; (e) tracking position and attitude of said AERCam (f) estimating and resetting frequently for errors of said inertial navigation system growing with time; (g) aiding said inertial navigation system during close proximity operation with available GPS signals and at least two cameras installed on said AERCam (h) imaging said ISS