Patents by Inventor Vibhor L. Bageshwar

Vibhor L. Bageshwar has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10605607
    Abstract: In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes providing a plurality of intensities. The plurality of intensities are pruned based on their respective weight to remove lower weighted intensities and produce a first set of intensities. Intensities in the first set of intensities that are identified as corresponding to the same object are then merged to produce a second set of intensities. The second set of intensities is then pruned again to produce a final set of intensities, wherein pruning the second set of intensities includes in the final set of intensities, up to a threshold number of intensities having the largest weights in the second set of intensities and excludes from the final set of intensities any remaining intensities in the second set of intensities.
    Type: Grant
    Filed: July 31, 2014
    Date of Patent: March 31, 2020
    Assignee: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20200001886
    Abstract: A system and methods for monitoring the integrity of navigation measurement information are disclosed. One method includes receiving a plurality of navigation measurement values, computing a first set and second set of estimates of the navigation measurement values, comparing the first set to the second set, and if the second set is statistically consistent with the first set, computing a plurality of sub-sets of the second set of estimates, computing a sub-solution for each sub-set of the second set of estimates, and computing an integrity value for each sub-solution.
    Type: Application
    Filed: June 27, 2018
    Publication date: January 2, 2020
    Applicant: Honeywell International Inc.
    Inventors: Zdenek Kana, Jindrich Dunik, Vibhor L. Bageshwar, Milos Sotak
  • Patent number: 10502573
    Abstract: A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided.
    Type: Grant
    Filed: January 9, 2018
    Date of Patent: December 10, 2019
    Assignee: Honeywell International Inc.
    Inventors: Ryan Ingvalson, Michael Ray Elgersma, Vibhor L Bageshwar
  • Patent number: 10309784
    Abstract: In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes generating a first intensity by combining a first one or more measurements, wherein a first set of track IDs associated with the first intensity includes track IDs corresponding to respective measurements in the first one or more measurements. A second intensity is generated by combining a second one or more measurements, wherein a second set of track IDs associated with the second intensity includes track IDs corresponding to respective measurements in the second one or more measurements. The first set of track IDs is compared to the second set of track IDs, and the first intensity is selectively merged with the second intensity based on whether any track IDs in the first set of track IDs match any track IDs in the second set of track IDs.
    Type: Grant
    Filed: July 31, 2014
    Date of Patent: June 4, 2019
    Assignee: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20180128618
    Abstract: A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided.
    Type: Application
    Filed: January 9, 2018
    Publication date: May 10, 2018
    Applicant: Honeywell International Inc.
    Inventors: Ryan Ingvalson, Michael Ray Elgersma, Vibhor L. Bageshwar
  • Patent number: 9909877
    Abstract: A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided.
    Type: Grant
    Filed: June 6, 2016
    Date of Patent: March 6, 2018
    Assignee: Honeywell International Inc.
    Inventors: Ryan Ingvalson, Michael Ray Elgersma, Vibhor L. Bageshwar
  • Patent number: 9851437
    Abstract: In one embodiment, a method for tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes comparing second track IDs corresponding to newly obtained measurements to one or more first track IDs corresponding to a Tk+1 predicted intensity having a predicted weight. If all of the one or more first track IDs match any of the second track IDs, the predicted weight is multiplied by a first value. If less than all of the one or more first track IDs match any of the second track IDs, the predicted weight is multiplied by a second value, wherein the second value is greater than the first value. The method then determines whether to prune the Tk+1 predicted intensity based on the predicted weight after multiplying with either the first value or the second value.
    Type: Grant
    Filed: July 31, 2014
    Date of Patent: December 26, 2017
    Assignee: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20170350704
    Abstract: A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided.
    Type: Application
    Filed: June 6, 2016
    Publication date: December 7, 2017
    Inventors: Ryan Ingvalson, Michael Ray Elgersma, Vibhor L. Bageshwar
  • Patent number: 9671226
    Abstract: A method of magnetic sensor calibration for aircraft comprises obtaining attitude data, heading angle data, position data, and date information; inputting the position data and date into an earth magnetic field (EMF) model and into an EMF model correction map; inputting the attitude and heading angle data into a NOLL to body frame transformation module; outputting an EMF model vector from the EMF model; outputting an EMF correction vector from the EMF model correction map; compensating the EMF model vector with the EMF correction vector to produce a corrected EMF model vector; inputting the corrected EMF model vector into the transformation module; inputting magnetic field measurements data into a calibration processing unit; inputting true earth magnetic field data from the transformation module into the processing unit; computing compensation coefficients in the processing unit based on the magnetic field measurements and the true earth magnetic field; and storing the compensation coefficients.
    Type: Grant
    Filed: December 17, 2014
    Date of Patent: June 6, 2017
    Assignee: Honeywell International Inc.
    Inventors: John R. Morrison, Vibhor L. Bageshwar, Ruth Dagmar Kreichauf, Zdenek Kana
  • Patent number: 9645219
    Abstract: Systems and methods for off-line and on-line sensor calibration are provided. In certain embodiments, a method for calibrating a sensor comprises receiving at least one reference measurement describing a system state for a system; and receiving at least one sensor measurement from the sensor, wherein the at least one sensor measurement is acquired from an observation of the environment of the system by the sensor. The method also comprises calculating a model residual power spectral density based on the at least one reference measurement and a sensor measurement model; and calculating a measurement residual power spectral density based on the at least one sensor measurement and the at least one reference measurement. Further, the method comprises identifying sensor parameters that morph the model residual power spectral density towards the measurement residual power spectral density.
    Type: Grant
    Filed: November 1, 2013
    Date of Patent: May 9, 2017
    Assignee: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma
  • Patent number: 9568321
    Abstract: An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.
    Type: Grant
    Filed: February 17, 2011
    Date of Patent: February 14, 2017
    Assignee: HONEYWELL INTERNATIONAL INC.
    Inventors: Raj Mohan Bharadwaj, Vibhor L. Bageshwar, Kyusung Kim
  • Patent number: 9507020
    Abstract: A method to initialize tracks from sensor measurements is provided. The method includes identifying at least one tentative track based on data collected from at least one sensor at three sequential times; initializing a confirm/delete track filter for the identified tentative tracks; and using gates computed from state vector statistics to one of: confirm the at least one tentative track; reprocess the at least one tentative track; or delete the at least one tentative track.
    Type: Grant
    Filed: December 5, 2013
    Date of Patent: November 29, 2016
    Assignee: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Nuri Kundak, Milos Vesely
  • Publication number: 20160178371
    Abstract: A method of magnetic sensor calibration for aircraft comprises obtaining attitude data, heading angle data, position data, and date information; inputting the position data and date into an earth magnetic field (EMF) model and into an EMF model correction map; inputting the attitude and heading angle data into a NOLL to body frame transformation module; outputting an EMF model vector from the EMF model; outputting an EMF correction vector from the EMF model correction map; compensating the EMF model vector with the EMF correction vector to produce a corrected EMF model vector; inputting the corrected EMF model vector into the transformation module; inputting magnetic field measurements data into a calibration processing unit; inputting true earth magnetic field data from the transformation module into the processing unit; computing compensation coefficients in the processing unit based on the magnetic field measurements and the true earth magnetic field; and storing the compensation coefficients.
    Type: Application
    Filed: December 17, 2014
    Publication date: June 23, 2016
    Inventors: John R. Morrison, Vibhor L. Bageshwar, Ruth Dagmar Kreichauf, Zdenek Kana
  • Publication number: 20160033633
    Abstract: In one embodiment, a method for tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes comparing second track IDs corresponding to newly obtained measurements to one or more first track IDs corresponding to a Tk+1 predicted intensity having a predicted weight. If all of the one or more first track IDs match any of the second track IDs, the predicted weight is multiplied by a first value. If less than all of the one or more first track IDs match any of the second track IDs, the predicted weight is multiplied by a second value, wherein the second value is greater than the first value. The method then determines whether to prune the Tk+1 predicted intensity based on the predicted weight after multiplying with either the first value or the second value.
    Type: Application
    Filed: July 31, 2014
    Publication date: February 4, 2016
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20160033276
    Abstract: In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes generating a first intensity by combining a first one or more measurements, wherein a first set of track IDs associated with the first intensity includes track IDs corresponding to respective measurements in the first one or more measurements. A second intensity is generated by combining a second one or more measurements, wherein a second set of track IDs associated with the second intensity includes track IDs corresponding to respective measurements in the second one or more measurements. The first set of track IDs is compared to the second set of track IDs, and the first intensity is selectively merged with the second intensity based on whether any track IDs in the first set of track IDs match any track IDs in the second set of track IDs.
    Type: Application
    Filed: July 31, 2014
    Publication date: February 4, 2016
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20160033282
    Abstract: In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes providing a plurality of intensities. The plurality of intensities are pruned based on their respective weight to remove lower weighted intensities and produce a first set of intensities. Intensities in the first set of intensities that are identified as corresponding to the same object are then merged to produce a second set of intensities. The second set of intensities is then pruned again to produce a final set of intensities, wherein pruning the second set of intensities includes in the final set of intensities, up to a threshold number of intensities having the largest weights in the second set of intensities and excludes from the final set of intensities any remaining intensities in the second set of intensities.
    Type: Application
    Filed: July 31, 2014
    Publication date: February 4, 2016
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20160033281
    Abstract: In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes obtaining measurements corresponding to a first object with at least one sensor, the at least one sensor providing one or more first track IDs for the measurements. A Tk+1 first predicted intensity is generated for the first object based on a Tk first track intensity. A Tk+1 measurement from a first sensor of the at least one sensors is obtained, the first sensor providing a second track ID for the Tk+1 measurement. The second track ID is compared to the one or more first track IDs, and the Tk+1 first predicted intensity is selectively updated with the Tk+1 measurement based on whether the second track ID matches any of the one or more first track IDs to generate a Tk+1 first measurement-to-track intensity for the first object.
    Type: Application
    Filed: July 31, 2014
    Publication date: February 4, 2016
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma, Eric A. Euteneuer
  • Publication number: 20150160338
    Abstract: A method to initialize tracks from sensor measurements is provided. The method includes identifying at least one tentative track based on data collected from at least one sensor at three sequential times; initializing a confirm/delete track filter for the identified tentative tracks; and using gates computed from state vector statistics to one of: confirm the at least one tentative track; reprocess the at least one tentative track; or delete the at least one tentative track.
    Type: Application
    Filed: December 5, 2013
    Publication date: June 11, 2015
    Applicant: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Nuri Kundak, Milos Vesely
  • Patent number: 9037411
    Abstract: Systems and methods are provided for selecting landmarks for navigation. In one embodiment, a system comprises an IMU that provides inertial measurements for a vehicle and at least one image sensor that acquires measurements of the vehicle's environment. The system also comprises a processing unit that calculates a navigation solution for the vehicle based on the inertial measurements, identifies a plurality of landmarks in the acquired measurements, and identifies a plurality of usable landmarks from the plurality of landmarks. The processing unit also selects a subset of useable landmarks from the plurality of useable landmarks such that the subset of landmarks has a smaller dilution of precision (DOP) than other possible subsets of landmarks from the plurality of useable landmarks, and calculates an updated navigation solution from the subset of landmarks. The DOP is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks.
    Type: Grant
    Filed: May 11, 2012
    Date of Patent: May 19, 2015
    Assignee: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Yunqian Ma, Shrikant Rao
  • Publication number: 20150127289
    Abstract: Systems and methods for off-line and on-line sensor calibration are provided. In certain embodiments, a method for calibrating a sensor comprises receiving at least one reference measurement describing a system state for a system; and receiving at least one sensor measurement from the sensor, wherein the at least one sensor measurement is acquired from an observation of the environment of the system by the sensor. The method also comprises calculating a model residual power spectral density based on the at least one reference measurement and a sensor measurement model; and calculating a measurement residual power spectral density based on the at least one sensor measurement and the at least one reference measurement. Further, the method comprises identifying sensor parameters that morph the model residual power spectral density towards the measurement residual power spectral density.
    Type: Application
    Filed: November 1, 2013
    Publication date: May 7, 2015
    Applicant: Honeywell International Inc.
    Inventors: Vibhor L. Bageshwar, Michael Ray Elgersma