Patent ID: 6766270
Filing Date: 2004-07-20
Classification: G01C,G01S,G06T

Abstract:
A method for data processing of inertial sensor, ranging device, and imager measurements, comprising the steps of:(a) receiving inertial sensor data for computing leveled conditions using a gravity vector as reference; (b) determining a leveled condition using said sensed gravity vector, wherein the steps (a) and (b) are repeated until said leveled condition is satisfied; (c) processing of horizontal range measurements for computing a position and orientation of an object along a horizontal plane, wherein a sweep of range data is made by rotating either said ranging device or a steering beam-in-plane thereof and read by said system processor; (d) processing of image data for computing said position and orientation of said object, wherein said imager projects a view along a vertical plane onto a focal plane and subsequently read by said system processor; and (e) outputting results of said position and orientation of said object in a 3-dimensional space.