Using Inertial Sensing (e.g., Inertial Navigation System (ins), Etc.) Patents (Class 701/500)
  • Patent number: 11334088
    Abstract: A vehicle position detector includes: a satellite positioning receiver; an autonomous navigation processor outputting an own-vehicle position as an autonomous navigation position; a determining unit determining occurrence of a position jump on the basis of a positional difference between the autonomous navigation position and a satellite positioning position detected by the satellite positioning receiver using satellite positioning; and a selector selecting one of the autonomous navigation position and the satellite positioning position on the basis of positioning precision of satellite positioning output by the satellite positioning receiver, and a result of the determination, wherein the vehicle position detector outputs one of the autonomous navigation position and the satellite positioning position as the own-vehicle position on the basis of a result of the selection.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: May 17, 2022
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kazuo Hitosugi, Toshihide Satake, Takahiro Urabe
  • Patent number: 11269081
    Abstract: A method for determining the absolute position of a motor vehicle in a global coordinate system, includes capturing a first position with a satellite-based navigation system and calculating a second position with at least one inertial sensor and integrating the measured values thereof. The absolute position of the motor vehicle is determined on the basis of the first position and the second position with the aid of a fusion filter. Provision is made for an error in the currently determined second position to be determined on the basis of a comparison of the first position captured last with an associated second position and to be taken into account when determining the current second position.
    Type: Grant
    Filed: July 6, 2017
    Date of Patent: March 8, 2022
    Assignee: Robert Bosch GmbH
    Inventors: Michael Baus, Martin Kossira, Sebastian Roith
  • Patent number: 11222547
    Abstract: A system for intelligent non-disruptive airspace integration of unmanned aircraft systems (UAS) is disclosed. The system includes an onboard positioning system and altimeter that determine a current position and altitude of the UAS. Under normal conditions, the UAS remains in inert mode: a transceiver listens for and decodes transmissions from nearby aircraft and ground-based traffic and control facilities. If certain conditions are met (e.g., proximate aircraft, altitude ceilings, controlled or restricted airspaces) the system may declare an alert mode. When in alert mode, the transceiver broadcasts position and identifier information of the UAS to alert neighboring aircraft to its presence. Intelligent transmission strategies regulate the power level or rate of alert-mode transmissions to reduce spectrum congestion due to high UAS density. Alert-mode transmissions continue until the underlying conditions change and inert mode is resumed.
    Type: Grant
    Filed: April 26, 2021
    Date of Patent: January 11, 2022
    Assignee: UAVIONICS CORPORATION
    Inventors: Christian Ramsey, Paul Beard
  • Patent number: 11199410
    Abstract: A device including microelectromechanical systems (MEMS) sensors is used in dead reckoning in conditions where Global Positioning System (GPS) signals or Global Navigation Satellite System (GNSS) signals are lost. The device is capable of tracking the location of the device after the GPS/GNSS signals are lost by using MEMS sensors such as accelerometers and gyroscopes. By calculating a misalignment angle between a sensor frame of the device with either the movement direction of the vehicle or the walking direction of a pedestrian using the MEMS sensors, the device can accurately calculate the location of a user of the device even without the GPS/GNSS signals. Accordingly, a device capable of tracking the location of a pedestrian and a user riding in a vehicle without utilizing GPS/GNSS signals can be provided.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: December 14, 2021
    Assignee: STMICROELECTRONICS, INC.
    Inventors: Mahaveer Jain, Mahesh Chowdhary
  • Patent number: 11187533
    Abstract: An advancement direction of a user who is walking is calculated with high accuracy. A period specifying unit specifies at least a part of a deceleration period, during which a horizontal component of acceleration is negative, as a stable deceleration period on the basis of a change of a vertical component of the acceleration, a deceleration vector calculation unit calculates a deceleration vector which indicates a deceleration direction in the stable deceleration period, and an advancement direction determination unit determines an advancement direction of a user on the basis of the deceleration vector.
    Type: Grant
    Filed: March 2, 2018
    Date of Patent: November 30, 2021
    Assignee: SHARP KABUSHIKI KAISHA
    Inventors: Shigeo Ohyama, Shigeyuki Wakita
  • Patent number: 11156722
    Abstract: A post-processing system providing forward processing (FP) of original GNSS raw data and alternative forward-backward processing (BP) of modified GNSS raw data and combining results of the FP and modified BP to enhance accuracy of position data derived from GNSS raw data. The post-processing system includes a GNSS processing engine, such as a real-time PVT engine, that processes GNSS raw data files as real time data streams equally for FP and BP. The backward processing is performed on a set of GNSS raw data that is mirrored from the original GNSS raw data. The modified BP uses the same algorithms of the PVT engine in a forward run but with the mirrored GNSS raw data to provide BP including position estimate with associated accuracy estimates for each data epoch. A forward/backward combiner combines results of the FP and the modified BP to provide final position data with enhanced precision.
    Type: Grant
    Filed: May 1, 2019
    Date of Patent: October 26, 2021
    Assignee: Trimble Inc.
    Inventors: Boriskin Aleksey Dmitrievich, Kozlov Dmitry Gennadievich, Lyoskin Victor Valerianovich
  • Patent number: 10996236
    Abstract: An accelerometer wireless position transducer or sensor is physically coupled to a control device in a process control system and includes an accelerometer that generates a signal based on a position of the control device or its actuator. The transducer converts the accelerometer signal into a wireless signal that includes a value indicative of the actuator position, and causes the wireless position feedback signal to be transmitted over a wireless channel to a valve controller, e.g., by using a short-range wireless protocol. The controller controls the valve based on the value included in the wireless signal. In some configurations, the feedback signal is received at a device paired with the transducer, and the paired device transmits the feedback signal to the controller. The paired device may be paired with multiple transducers and/or sensors, and may transmit various feedback signals to multiple recipient controllers and other devices.
    Type: Grant
    Filed: July 22, 2014
    Date of Patent: May 4, 2021
    Assignee: FISHER CONTROLS INTERNATIONAL LLC
    Inventors: Mitchell Stephen Panther, Matthew J. Kemp, Davin Scott Nicholas
  • Patent number: 10990111
    Abstract: A position determination apparatus for a vehicle may include: a first sensing unit configured to sense driving state information of the vehicle; a GNSS module configured to acquire position data of the vehicle; a first core unit configured to generate a first driving trajectory of the vehicle based on the driving state information sensed by the first sensing unit, and estimate the current position of the vehicle based on the generated first driving trajectory; a second sensing unit configured to detect driving environment information of the vehicle; and a second core unit configured to generate a second driving trajectory of the vehicle, generate map matching data by performing map matching on the driving environment information sensed through the second sensing unit, and generate fused position determination information by fusing the position data received from the GNSS module, the second driving trajectory and the map matching data.
    Type: Grant
    Filed: September 19, 2018
    Date of Patent: April 27, 2021
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventors: Won Oh Lee, Je Seok Kim
  • Patent number: 10753748
    Abstract: A system corrects errors of a measurement system. The system comprises base measurement system BS and a correction system. BS sensor data is acquired and provided to an algorithm. The data is stored associated with a time stamp indicating time of sensing. Output values are calculated and stored with time stamps indicating time of the sensor data upon which the output values are calculated. Data having corresponding time stamps are supplied to a filter where correction values and correction increments are calculated. The correction increments reflect the change of error in a base system output value over time due to integration or summing up BS sensor data errors in the processing algorithm. The correction values are applied to the BS data and corrected base navigation output values are calculated. These output values are corrected by the correction increments. Output values of the processing algorithm are further processed in succeeding applications.
    Type: Grant
    Filed: April 18, 2017
    Date of Patent: August 25, 2020
    Assignee: HONDA RESEARCH INSTITUTE EUROPE GMBH
    Inventor: Nico Steinhardt
  • Patent number: 10726281
    Abstract: An apparatus and method are disclosed for user and moving vehicle detection in which sensor data for a portable device is processed to determine whether the portable device is in a moving vehicle. Following a determination the portable device is in a moving vehicle, the sensor data is to characterize an association between the user and the portable device to determine whether the portable device is connected to the user. If the user is connected to the portable device, it is then determined if the portable device is being held in hand. If the portable device is held in hand, it is then determined if the user is operating the moving vehicle. Output from an image sensor of the portable device may be used in determining if the user is the operator.
    Type: Grant
    Filed: July 29, 2015
    Date of Patent: July 28, 2020
    Assignee: InvenSense, Inc.
    Inventors: Abdelrahman Ali, Mostafa Elhoushi, Jacques Georgy, Christopher Goodall, Ardalan Heshmati, Michael D. Housholder
  • Patent number: 10706243
    Abstract: To provide an information processing apparatus that can easily find a target object on the basis of information detected in searching. Provided is an information processing apparatus including a provision unit that provides marker information obtained when a marker on a route to a destination has been read, and information regarding an image captured when the marker has been read and an acquisition unit that acquires information regarding a marker to be read next, the information being generated on the basis of the provided marker information.
    Type: Grant
    Filed: July 14, 2017
    Date of Patent: July 7, 2020
    Assignee: Sony Corporation
    Inventors: Yousuke Kawana, Ryuichi Suzuki, Kentaro Ida, Mana Sasagawa, Kaori Ikematsu, Itiro Shiio
  • Patent number: 10698103
    Abstract: A system and method for generating high-resolution imagery using electromagnetic signals includes a moveable vehicle and a multiple-input multiple-output (MIMO) radar system carried by the vehicle. The MIMO radar system includes an antenna array having a plurality of antenna elements. One or more of the antenna elements transmits electromagnetic signals towards a target area and one or more of the antenna elements receives back-scattered electromagnetic signals reflected from the target area. The system generates high-resolution three-dimensional imagery based on back-scattered electromagnetic signal data with system performance characterized by: (a) down range resolution ?R; (b) cross-range resolution ?X; and (c) vertical resolution ?H. The system exploits effective synthetic apertures to improve cross-range resolution ?X and vertical resolution ?H based on, at least in part, the movement of the vehicle along the trajectory and a width and height of the antenna array relative to the target area.
    Type: Grant
    Filed: June 16, 2017
    Date of Patent: June 30, 2020
    Assignee: BAE Systems Information and Electronic Systems Integration Inc.
    Inventors: Peter B. Weichman, Ira Ekhaus
  • Patent number: 10661830
    Abstract: Methods, apparatus, and systems for detecting and compensating for yaw orientation error or misalignment of an IMU in a vehicle navigation system. Acceleration measurements available from the IMU can be used for fast, reliable, and compact estimation of alignment error whether or not the IMU and fixed-body frames share an origin or not. The detection can be included in a navigation solution for guidance and control systems of a vehicle without having to utilize other measurements such as GPS.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: May 26, 2020
    Assignee: Ag Leader Technology, Inc.
    Inventor: Yakup Gunbatar
  • Patent number: 10649701
    Abstract: In an image processing system, a mobile terminal device obtains a position and a direction of each image forming apparatus relative to the mobile terminal device on a basis of respective wireless signals transmitted from each of the image forming apparatuses and is received by a near field communication unit, and displays on a display unit the position and the direction. When an arbitrary image forming apparatus is selected by operation of a touch panel, image data to be printed is transmitted via a network by a network communication section to the selected image forming apparatus.
    Type: Grant
    Filed: December 20, 2018
    Date of Patent: May 12, 2020
    Assignee: KYOCERA Document Solutions Inc.
    Inventor: Masayuki Shigetomi
  • Patent number: 10583936
    Abstract: A method for dynamic control of runway illumination on aircraft, suitable for controlling the illumination of a light equipment comprising a LED matrix and refraction optics during a flight phase. The method comprises the steps of a) determining predefined flight dynamic movement equations for the flight phase, b) obtaining real data from autonomous sensors independent from the aircraft sensors, c) using extended Kalman Filter and algorithm taking into account the data from the autonomous sensors to obtain the aircraft dynamics data. This step c) comprises the c1) predict phase and c2) update phase, and d) applying the obtained aircraft dynamics data to light control laws affecting the light equipment.
    Type: Grant
    Filed: February 21, 2019
    Date of Patent: March 10, 2020
    Assignee: AIRBUS OPERATIONS S.L.
    Inventor: Jesús Robledo Bueno
  • Patent number: 10539648
    Abstract: RFID tag tracking according to embodiments of the invention uses apparatus and methods for tracking backscatter RFID tags using the phase and receive signal strength of the tag signal. The tag tracking in some embodiments is accomplished with a computationally efficient recursive procedure to update a tag state estimate on each new response of the tag based on the previous tag state estimate and the measured phase of the tag signal. Some embodiments use a Monte Carlo simulation based on the previous tracking algorithm state and a statistical model of the forces acting on the tag. A system according to example embodiments of the invention can include a processor connected to a quadrature mixer. The processor is operable, for example through the use of firmware or software, to estimate a tag state of an RFID tag.
    Type: Grant
    Filed: June 11, 2015
    Date of Patent: January 21, 2020
    Assignee: Clarivoyant Technology LLC
    Inventor: Thomas J. Frederick
  • Patent number: 10535197
    Abstract: Various embodiments of the present invention relate generally to systems and methods for analyzing and manipulating images and video. According to particular embodiments, the spatial relationship between multiple images and video is analyzed together with location information data, for purposes of creating a representation referred to herein as a surround view for presentation on a device. A visual guide can provided for capturing the multiple images used in the surround view. The visual guide can be a synthetic object that is rendered in real-time into the images output to a display of an image capture device. The visual guide can help user keep the image capture device moving along a desired trajectory.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: January 14, 2020
    Assignee: Fyusion, Inc.
    Inventors: Stefan Johannes Josef Holzer, Alexander Jay Bruen Trevor, Michelle Jung-Ah Ho, David Klein, Stephen David Miller, Shuichi Tsutsumi, Radu Bogdan Rusu
  • 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: 10496104
    Abstract: The described positional awareness techniques employing sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to provide positional awareness to machines with improved speed and accuracy. The sensory data are gathered from multiple operational cameras and one or more auxiliary sensors.
    Type: Grant
    Filed: July 5, 2017
    Date of Patent: December 3, 2019
    Assignee: PerceptIn Shenzhen Limited
    Inventors: Shaoshan Liu, Zhe Zhang, Grace Tsai
  • Patent number: 10417800
    Abstract: Various embodiments are generally directed to techniques to merge a virtual map derived from sensors of computing devices moved about an interior of a structure with a corresponding physical map. An apparatus to merge maps includes a processor component; and a merged map generator for execution by the processor component to merge a virtual map and a physical map to generate a merged map, the virtual map comprising indications of virtual pathways through an interior of a structure based on sensors, and the physical map comprising indications of physical pathways of the interior. Other embodiments are described and claimed.
    Type: Grant
    Filed: April 2, 2016
    Date of Patent: September 17, 2019
    Assignee: INTEL CORPORATION
    Inventors: Lei Yang, Xue Yang
  • Patent number: 10403065
    Abstract: Presented are methods and devices for issuing an authorization for access to a secured area, particularly a building, a room, a vehicle, a computer system or the like, or for starting a machine, a vehicle, a computer or the like, having a monitoring unit comprising a transmitter, a receiver, and an evaluation device, and having a key, a key card or similar, referred to as a key in short below, having a transmitter, a receiver and an electronic device. A permissible position and/or a permissible distance between the transmitter of the monitoring unit and a permissible key is determined prior to issuing an authorization, wherein the transmitter of the monitoring unit transmits signals and the key transmits response signals back to the monitoring unit. The permissible position and/or the permissible distance of the key are determined from the signals received by the key, wherein a signal strength of said signals is evaluated in various directions and/or angles.
    Type: Grant
    Filed: March 13, 2014
    Date of Patent: September 3, 2019
    Assignee: Maxim Integrated Products, Inc.
    Inventors: Thomas Gigl, Gerhard Schultes
  • Patent number: 10353076
    Abstract: The invention relates to a method for providing a global navigation satellite system signal, referred to as a GNSS signal in the following, for determining a position of a vehicle, the method including: receiving an unfiltered GNSS signal, filtering the unfiltered GNSS signal on the basis of an ambient condition around the vehicle, and emitting the filtered GNSS signal.
    Type: Grant
    Filed: December 12, 2013
    Date of Patent: July 16, 2019
    Assignee: Continental Teves AG & Co. oHG
    Inventors: Ulrich Stählin, Klaus Rink, Marc Menzel, Michael Zalewski
  • Patent number: 10274318
    Abstract: A system for determining and correcting a calculated orientation of a computing device based on data from an accelerometer and a gyroscope. The system utilizes a modified Kalman filter that updates covariance to reduce decay over time based on a residual of the filter. Gyroscope bias is tracked and offset based on the updated covariance and the residual. The residual is based on an observational orientation determined from an angle between a measured acceleration vector and an expected acceleration vector, rotating a predicted frame based on the angle.
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: April 30, 2019
    Assignee: AMAZON TECHNOLOGIES, INC.
    Inventor: Jung Bae Sohn
  • Patent number: 10254118
    Abstract: This disclosure describes various techniques for use within a vision-aided inertial navigation system (VINS). A VINS comprises an image source to produce image data comprising a plurality of images, and an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the vision-aided inertial navigation system while producing the image data, wherein the image data captures features of an external calibration target that is not aligned with gravity. The VINS further includes a processing unit comprising an estimator that processes the IMU data and the image data to compute calibration parameters for the VINS concurrently with computation of a roll and pitch of the calibration target, wherein the calibration parameters define relative positions and orientations of the IMU and the image source of the vision-aided inertial navigation system.
    Type: Grant
    Filed: February 21, 2014
    Date of Patent: April 9, 2019
    Assignee: Regents of the University of Minnesota
    Inventors: Stergios I. Roumeliotis, Dimitrios G. Kottas, Kejian J. Wu
  • Patent number: 10206061
    Abstract: Disclosed herein is a location information providing method generating a map image in itself for a current position of a protectee terminal, when a protector terminal requests current position related information of a (protectee terminal, in which the protectee terminal directly transmits the map image besides a picture image of a protectee terminal user to a protector terminal.
    Type: Grant
    Filed: May 28, 2015
    Date of Patent: February 12, 2019
    Assignee: LG INNOTEK CO., LTD.
    Inventor: Jeonghoon Cho
  • Patent number: 10206068
    Abstract: Systems and methods to position beacons at traffic choke points, use a mobile device to detect the peaks of beacon signals corresponding to the mobile device traveling through the traffic “choke points”, and thus determine accurately the position and speed of the mobile device in the transport corridor between the choke points. The determined position and speed of the mobile device can be used to improve the performance of other location determination technologies, such as radio frequency fingerprint-based location estimate and/or inertial guidance location estimate.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: February 12, 2019
    Assignee: OneMarket Network LLC
    Inventors: Gerard Joseph Cerchio, Brian David Wilson
  • Patent number: 10197587
    Abstract: A computer-implemented method for determining rotational rate of a computer system programmed to perform the method includes determining in a physical perturbation sensor in the computer system, a plurality of instantaneous field measurements with respect to a reference field, at a first time and a second time, determining in the computer system, a plurality of rates of change associated with the physical perturbation sensor in response to the plurality of instantaneous field measurements at the first time and the second time, determining in the computer system, an plurality of estimated rotational rates for the computer system in response to the plurality of rates of change, and performing in the computer system, an operation in response to the plurality of estimated rotational rates.
    Type: Grant
    Filed: November 21, 2014
    Date of Patent: February 5, 2019
    Assignee: mCube Inc.
    Inventor: Joseph M. Kelly
  • Patent number: 10139835
    Abstract: A vehicle position detector includes: a satellite positioning receiver; an autonomous navigation processor outputting an own-vehicle position as an autonomous navigation position; a determining unit determining occurrence of a position jump on the basis of a positional difference between the autonomous navigation position and a satellite positioning position detected by the satellite positioning receiver using satellite positioning; and a selector selecting one of the autonomous navigation position and the satellite positioning position on the basis of positioning precision of satellite positioning output by the satellite positioning receiver, and a result of the determination, wherein the vehicle position detector outputs one of the autonomous navigation position and the satellite positioning position as the own-vehicle position on the basis of a result of the selection.
    Type: Grant
    Filed: June 8, 2017
    Date of Patent: November 27, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kazuo Hitosugi, Toshihide Satake, Takahiro Urabe
  • Patent number: 10101744
    Abstract: A navigation system for a vehicle is provided. The system includes at least one processor programmed to receive, from one or more sensors, outputs indicative of a motion of the vehicle. The at least one processor is also programmed to determine an actual trajectory of the vehicle based on the outputs from the one or more sensors; receive, from a camera, at least one environmental image associated with the vehicle; and analyze the at least one environmental image to determine information associated with at least one navigational constraint. The at least one processor is further programmed to determine a target trajectory, including the actual trajectory of the vehicle and one or more modifications to the actual trajectory based on the determined information associated with the at least one navigational constraint; and transmit the target trajectory from the vehicle to a server.
    Type: Grant
    Filed: September 22, 2016
    Date of Patent: October 16, 2018
    Assignee: Mobileye Vision Technologies Ltd.
    Inventors: Aran Reisman, Ori Buberman
  • Patent number: 10082396
    Abstract: Systems and methods for electronically providing fitness activity feedback to a user are disclosed. The method may include collecting performance data, generating comparison data by comparing the respective performance and including identifying comparison performance data representative of performance differences, and displaying the comparison data and the comparison performance data.
    Type: Grant
    Filed: December 28, 2015
    Date of Patent: September 25, 2018
    Assignee: adidas AG
    Inventor: Michael Ellis
  • Patent number: 9996945
    Abstract: Various embodiments of the present invention relate generally to systems and methods for analyzing and manipulating images and video. According to particular embodiments, the spatial relationship between multiple images and video is analyzed together with location information data, for purposes of creating a representation referred to herein as a surround view for presentation on a device. A visual guide can provided for capturing the multiple images used in the surround view. The visual guide can be a synthetic object that is rendered in real-time into the images output to a display of an image capture device. The visual guide can help user keep the image capture device moving along a desired trajectory.
    Type: Grant
    Filed: December 12, 2016
    Date of Patent: June 12, 2018
    Assignee: FYUSION, INC.
    Inventors: Stefan Johannes Josef Holzer, Alexander Jay Bruen Trevor, Michelle Jung-Ah Ho, David Klein, Stephen David Miller, Shuichi Tsutsumi, Radu Bogdan Rusu
  • Patent number: 9989973
    Abstract: A measurement control system for a multi-shaft supported air floatation platform, the system comprising a load feedback unit (5), an execution unit (6), a position measurement unit (7), a safety protection unit (8), a controller (9), a rotating motor (10), and a linear light source 11; the load feedback unit comprises M pressure sensors (5-1) and four differential sensors (5-2); the execution unit comprises M servo voice coil motors (6-1) and M servo voice coil motor drivers (6-2); the position measurement unit comprises a plane grating (7-1), M linear gratings (7-2) a linear array CCD (7-3), a tilt sensor (7-4), M electronic levels (7-5), and an indoor GPS (7-6); the safety protection unit comprises 2M proximity sensors (8-1) and M temperature sensors (8-2); and the linear array CCD consists of no few then six CCDs. The system solves the problems of leveling limitations and narrow application range of existing supporting platforms.
    Type: Grant
    Filed: May 6, 2014
    Date of Patent: June 5, 2018
    Inventors: Xinglin Chen, Yang Liu, Cong Li, Weifeng Wang, Chuan Liu
  • 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: 9862488
    Abstract: Certain embodiments herein relate to location verification for autonomous unmanned aerial vehicles (also referred to as “drones”). In some embodiments, an unmanned aerial vehicle engaged in autonomous flight may determine its location using a satellite-based navigation system. The location may be evaluated against location data obtained from one or more secondary factors, such as public broadcast beacons, cellular towers, wireless network identifiers, visual markers, or any combination thereof. If the location is determined to be invalid, the unmanned aerial vehicle may be instructed to take a mitigation action. Additionally, certain embodiments also include the verification of a flight plan for the unmanned aerial vehicle using secure no-fly logic to verify a flight plan does not violate no-fly zones. If the flight plan is verified, the flight plan may be signed using a cryptographic signature and provided to a navigation module that verifies the signature and executes the flight plan.
    Type: Grant
    Filed: August 28, 2015
    Date of Patent: January 9, 2018
    Assignee: MCAFEE, LLC
    Inventors: Simon Hunt, Venkata Ramanan Sambandam, Samir Shah
  • Patent number: 9846042
    Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.
    Type: Grant
    Filed: November 13, 2015
    Date of Patent: December 19, 2017
    Assignee: Worcester Polytechnic Institute
    Inventors: Benzun Wisely Babu, David Cyganski, R. James Duckworth
  • Patent number: 9826415
    Abstract: Systems, devices, and techniques described herein are directed to a tactical wireless base station, and applications thereof. A tactical wireless base station may include a plurality of hardware or software radios configured to facilitate communication over any wireless protocol. The tactical wireless base station may be deployed on an unmanned aerial vehicle (UAV) to search for a wireless signal of a target user equipment (UE) corresponding to a lost hiker, for example, in an area out of range of traditional base stations, and/or to locate the target UE to convey the location to rescuers. In some instances, a tactical wireless base station can be deployed in a handheld device and may coordinate with other tactical wireless base stations in order to triangulate a location of user equipment. Further, the tactical wireless base stations may be deployed during network outages to provide indications of events, such as during emergencies.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: November 21, 2017
    Assignee: T-Mobile USA, Inc.
    Inventor: Cameron Byrne
  • Patent number: 9689747
    Abstract: Systems that enable observing celestial bodies during daylight or in under cloudy conditions.
    Type: Grant
    Filed: May 16, 2016
    Date of Patent: June 27, 2017
    Assignee: Wavefront Research, Inc.
    Inventor: Thomas W. Stone
  • Patent number: 9672671
    Abstract: A keyfob is disclosed for use in detecting an attack on a vehicle. The keyfob includes a microcontroller, a wake receiver and an accelerometer. The wake receiver is configured to measure received signal strength and save the measured value in received signal strength indicator (RSSI). The accelerometer is used to generate acceleration data. The microcontroller detects an attack based on the RSSI and the acceleration data.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: June 6, 2017
    Assignee: TEXAS INSTRUMENTS INCORPORATED
    Inventors: Klaus Seiberts, Jim Childers
  • Patent number: 9599475
    Abstract: A traveling direction velocity calculation device 1 calculates a posture of an acceleration sensor 10 with respect to a user, using a detection result represented in a local coordinate system associated with the acceleration sensor 10, detecting acceleration, which is worn on a user's body, when a change in the detection result of the acceleration sensor 10 satisfies a predetermined specific condition. The detection result of the acceleration sensor 10 at a time different from that when the posture is calculated and at a time when the specific condition is satisfied is transformed, using the calculated posture, to a mobile body coordinate system associated with a user. A velocity in a traveling direction of the user is calculated using the transformed detection result.
    Type: Grant
    Filed: March 17, 2014
    Date of Patent: March 21, 2017
    Assignee: Seiko Epson Corporation
    Inventors: Akinobu Sato, Shunichi Mizuochi, Shuji Uchida, Anand Kumar
  • Patent number: 9551787
    Abstract: The present invention relates to a process for determining a position change or the resting and/or a speed of an object and a corresponding process for supporting an inertial measurement system. In the process at least one radio signal (FS) is received on the object (O) at at least one first and one second point in time, particularly continuously, and the change of the phase of said radio signal is determined for a determination of a relative movement between source (U) of said signal or a reference location and said object (O), and the relative movement between source (U) of said signal or the reference location and said object (O) is detected.
    Type: Grant
    Filed: January 5, 2012
    Date of Patent: January 24, 2017
    Assignee: Lambda:4 Entwicklungen GmbH
    Inventor: Ronne Reimann
  • Patent number: 9519290
    Abstract: A method and apparatus for associating passenger docking locations with destinations are disclosed. Associating passenger docking locations with destinations may include an autonomous vehicle identifying transportation network information representing a vehicle transportation network, including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes docking location information representing a plurality of docking locations, wherein each docking location corresponds with a respective location in the vehicle transportation network, and such that at least one docking location from the plurality of docking locations is associated with the primary destination.
    Type: Grant
    Filed: January 15, 2015
    Date of Patent: December 13, 2016
    Assignee: Nissan North America, Inc.
    Inventors: Naoki Kojo, Siddharth Kumar Thakur, Nicolas Meuleau, Daisuke Saito, Nikhil Lele
  • Patent number: 9516469
    Abstract: A positioning system is provided with a cell phone, a ticket gate having a known absolute position, and a housing of the ticket gate which regulates a traveling direction of a user to be a reference direction.
    Type: Grant
    Filed: February 28, 2013
    Date of Patent: December 6, 2016
    Assignee: MegaChips Corporation
    Inventor: Mahito Matsumoto
  • Patent number: 9453932
    Abstract: A mobile terminal device for a positioning system based on a magnetic field map and a method thereof, are provided. The mobile terminal includes a memory configured to store a magnetic field map including magnetic field values at positions. The mobile terminal further includes a magnetic field sensor configured to measure a magnetic field value at a position of the mobile terminal. The mobile terminal further includes an inertial measurement unit (IMU) sensor configured to measure an acceleration value and a gyro value of the mobile terminal. The mobile terminal further includes a processor configured to determine the position of the mobile terminal based on the magnetic field map, the magnetic field value, the acceleration value, and the gyro value.
    Type: Grant
    Filed: September 8, 2015
    Date of Patent: September 27, 2016
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Yong Kim, Eung Sun Kim, Ji Hyun Yoon
  • Patent number: 9432637
    Abstract: System and method for generating vehicle position fixes for an underwater vehicle based on images of a target object on the seafloor. The position of the target object is estimated based on a selected pixel on the target. For each image of the target, there is a different selected pixel, and a different uncertainty associated with the target location based on the selected pixel. Vehicle position fixes for the underwater vehicle are computed based on an analysis of the selected pixels for each target, the uncertainties of the selected pixel positions, the location and uncertainty of location of the vehicle collecting the pixel positions, and other information collected about the target.
    Type: Grant
    Filed: March 7, 2014
    Date of Patent: August 30, 2016
    Assignee: The United States of America, as represented by the Secretary of the Navy
    Inventors: Brian S Bourgeois, John R. Dubberley, Jeffrey A. Russell, Marlin L Gendron
  • Patent number: 9207086
    Abstract: A method for determining the location of a vehicle may include: determining, by a controller, whether first location information of a vehicle is normally received through a GNSS (Global Navigation Satellite System) receiver; determining whether two or more infrastructure devices exist within a reference distance from the vehicle; and determining the location of the vehicle according to whether the first location information of the vehicle is normally received and whether two or more infrastructure devices exist.
    Type: Grant
    Filed: August 21, 2014
    Date of Patent: December 8, 2015
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventor: Dong Ho Kim
  • Patent number: 9188599
    Abstract: The invention relates to a motion detector comprising at least of one accelerometer and corresponding control electronics encapsulated in an enclosure with means for attaching the enclosure to a moving body. In accordance with the invention the motion detector includes means for turning, aligning and locking the detector in any desired direction relative to the moving body with the help of the enclosure.
    Type: Grant
    Filed: September 20, 2013
    Date of Patent: November 17, 2015
    Assignee: Oy Baltic Instruments Ab
    Inventors: Christer Helenelund, Anders Viktor Thoreson
  • Patent number: 9060250
    Abstract: Some demonstrative embodiments include devices, systems and/or methods of location estimation of a mobile device. For example, a device may include a location error corrector to provide location data to at least one application executed by the device, the location data indicating an estimated location of the device, which is based on location information from at least one location-information generator; to receive from the application error feedback information indicating an error in the estimated location; to determine a correction based on the error feedback information; and to provide to the application corrected location data based on the correction.
    Type: Grant
    Filed: March 29, 2012
    Date of Patent: June 16, 2015
    Assignee: INTEL CORPORATION
    Inventors: Yaron Alpert, Haim Rochberger
  • Publication number: 20150149085
    Abstract: A device, method and computer readable medium is disclosed for generating a plurality of location signature is disclosed. The method includes seeding a device with an initial position and utilizing an inertial positioning system to propagate user position, and generating location signatures.
    Type: Application
    Filed: November 27, 2013
    Publication date: May 28, 2015
    Applicant: InvenSense, Inc.
    Inventors: Rahul BAKSHI, Ardalan HESHMATI
  • Patent number: 9037407
    Abstract: A system for retrieving information about a position of an inertial computing device (ICD) for use in an application, which includes a network of local positioning docks (PDs), each capable of docking an ICD by restricting three dimensions of a physical position of the ICD near one of the PDs; a database capable of storing information about the positions of the PDs within the network; a calculator capable of determining, based on a position of a positioning dock (PD), the position of the ICD; and an application programming interface (API) connected to the database and capable of outputting the position of a PD to the ICD.
    Type: Grant
    Filed: July 12, 2011
    Date of Patent: May 19, 2015
    Assignee: PALANTIR TECHNOLOGIES INC.
    Inventor: James Thompson
  • 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