Patent ID: 8473118
Filing Date: 2013-06-25
Classification: G01S

Abstract:
1. A navigation system for exploring or monitoring unknown or difficult environments, comprising: a mission control module designed to be placed in an unknown or difficult environment and to control an exploration or monitoring mission in said unknown or difficult environment, wherein said mission control module comprises a respective predefined radio communication interface and is configured to send mission data concerning said exploration or monitoring mission and navigation data concerning a local reference coordinate system and an overall integrity state of a hierarchical communication and localization network to a vehicle control unit using the respective predefined radio communication interface; an unmanned vehicle operable to carry out said exploration or monitoring mission in said unknown or difficult environment, wherein said unmanned vehicle comprises said vehicle control unit that includes a respective predefined radio communication interface and a respective ultra-wideband radio interface and that is configured to receive data from said mission control module said using the respective predefined radio communication interface, wherein said vehicle control unit is further configured to: a primary node coupled to said mission control module and comprising a respective ultra-wideband radio interface; and a plurality of secondary nodes designed to be deployed in said unknown or difficult environment; wherein each secondary node from said plurality of secondary nodes including a respective ultra-wideband radio interface; wherein said primary node and said plurality of secondary nodes are configured to form a hierarchical communication and localization network in which said primary node is associated with a primary hierarchical level and said each secondary node is associated with a respective secondary hierarchical level lower than said primary hierarchical level; wherein each said primary node and said each secondary node are configured to send and receive messages through said hierarchical communication and localization network using said respective ultra-wideband radio interface; wherein said each secondary node is configured to: using said respective ultra-wideband radio interface, make distance measurements with respect to, and together with, other secondary nodes associated with said respective secondary hierarchical level, with which said each secondary node is associated, and with respect to, and together with, other nodes, associated with hierarchical levels adjacent to said secondary hierarchical level with which said each secondary node is associated, and send to said primary node distance-related messages concerning said distance measurements carried out by said each secondary node and integrity-related messages indicating a respective state of operational integrity of said each secondary node; and said primary node is configured to: