Patent ID: 9182236
Filing Date: 2015-11-10
Classification: G01C,G01S

Abstract:
1. A post processing navigation mapping system including: a camera subsystem; a global navigation satellite system/inertial navigation system (GNSS/INS) subsystem; one or more processors that receive measurement data and image data from the subsystems, the one or more processors being configured to calculate sets of position, velocity and attitude solutions and associated variances that correspond in time to images taken by the camera subsystem, by processing the measurement data received from the GNSS/INS subsystem forward in time and backward in time, determine which of the sets of solutions are reliable based on a comparison of the forward and backward solutions and their associated variances and using the reliable sets of solutions to determine position, velocity and attitude information for a camera included in the camera subsystem, and for sets of solutions determined to be unreliable further process the GNSS/INS measurement data and the corresponding image data from images that correspond in time to determine further processed solutions and using the further processed solutions to determine position, velocity and attitude information for one or both of the camera and an INS measurement unit included in the GNSS/INS subsystem.