Abstract: An integrated navigation solution is provided for a device within a moving platform. Motion sensor data is obtained from a sensor assembly of the device, radar measurements for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for radar measurements. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the radar measurements directly by updating the nonlinear state estimation technique using the nonlinear measurement models and the map information. The integrated navigation solution is then provided.
Type:
Grant
Filed:
May 22, 2019
Date of Patent:
August 23, 2022
Assignee:
TDK Corportation
Inventors:
Anas Mahmoud, Jacques Georgy, Amr Al-Hamad, Medhat Omr, Amr Ahmed, Abdelrahman Ali, Christopher Goodall