Abstract: An aircraft receives pseudorange input from a plurality of satellites of an augmentation system. Each pseudorange input includes a precise position solution and error data. The aircraft receives a high frequency measurement from an inertial navigation system. The aircraft applies the precise position solution, error data, and high frequency measurement to a set of parallel Schmidt extended Kalman filters to produce a corrected position solution and integrity data. The aircraft applies the integrity data to a receiver autonomous integrity monitoring system to produce a protection level for the corrected position solution. The aircraft performs an aircraft operation using the corrected position solution and protection level.

Abstract: An aircraft receives pseudorange input from a plurality of satellites of an augmentation system. Each pseudorange input includes a precise position solution and error data. The aircraft receives a high frequency measurement from an inertial navigation system. The aircraft applies the precise position solution, error data, and high frequency measurement to a set of parallel Schmidt extended Kalman filters to produce a corrected position solution and integrity data. The aircraft applies the integrity data to a receiver autonomous integrity monitoring system to produce a protection level for the corrected position solution. The aircraft performs an aircraft operation using the corrected position solution and protection level.

Abstract: The vehicle mounted perception sensor gathers environment perception data from a scene using first and second heterogeneous (different modality) sensors, at least one of the heterogeneous sensors is directable to a predetermined region of interest. A perception processor receives the environment perception data and performs object recognition to identify objects each with a computed confidence score. The processor assesses the confidence score vis-à-vis a predetermined threshold, and based on that assessment, generates an attention signal to redirect the one of the heterogeneous sensors to a region of interest identified by the other heterogeneous sensor. In this way information from one sensor primes the other sensor to increase accuracy and provide deeper knowledge about the scene and thus do a better job of object tracking in vehicular applications.

Abstract: An object recognition device 4 includes: a data reception unit 5 that creates observation data of respective sensors 1, 2 in accordance with sensor's detection data of an object in the surroundings of a host vehicle; an association processing unit 6 which, based on an association reference value, generates association data denoting a correspondence between the observation data and object data of a previous process cycle; and an updating processing unit 7 which, based on the association data, updates a state vector included in the object data of the previous process cycle, and updates the object data by including latest association data being the observation data having corresponded to the object data most recently, wherein the association processing unit 6 generates the association reference value using preferentially the latest association data of the same sensor as that of the observation data of a current process cycle.

Abstract: Fifty seven percent of the world's population, some 4.2 billion people, reside in places without internet access. Consequently, these areas also have no or limited infrastructure to deploy Internet of Things (IoT) devices/sensors. Numerous companies are racing to fill this communication gap and provide internet not only to those without internet but to also improve and provide additional options to those with internet access. One exemplary aspect is capable of providing a technically unique lower-cost solution for internet connectivity, and in particular for applications requiring real-time and/or near-real-time connectivity.

Abstract: A self-position calculating apparatus includes: a light projector projecting a patterned light beam onto a road surface around a vehicle; and a camera capturing an image of the road surface including an area onto which the patterned light beam is projected. The apparatus calculates an orientation angle of the vehicle from a position of the patterned light beam, and calculate an amount of change in orientation based on temporal changes in multiple feature points on the road surface. The apparatus calculates current position and orientation angle by adding the amount of change to initial position and orientation angle. If a condition under which the multiple feature points are detected does not satisfy a first criterion, the apparatus sets the current position at that time and the orientation angle at the initial position and orientation, and starts adding the amount of change to the initial position and orientation angle.

Abstract: A flexible pipe fatigue monitoring system 30 comprising a pipe monitoring system 32, 40, 42 adapted to be provided on a flexible pipe 10 having a bend stiffener 18. The pipe monitoring system 40, 42 is provided on the pipe 10 below the bend stiffener 18. The monitoring system 32 measures one or more of bending, tension and torsion of the pipe 10. The pipe monitoring system 30 comprises sensor carrier members 40, 42 adapted to be coupled to the pipe 10 and at least one fiber Bragg grating strain sensor embedded in a carrier member 40, 42. An inclinometer 34 is provided on one carrier member 40 to measure the incline of the pipe 10 relative to earth. A central processor 38 is provided to receive bending, tension and torsion information and incline information, and is operable to determine pipe fatigue from said information. A method of flexible pipe fatigue monitoring is also provided.

Abstract: An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a prescribed position on the bucket. The subordinate designed surface data indicates a plurality of subordinate designed surfaces linked to the superior designed surface. The designed surface data generation part generates shape data based on the superior and subordinate designed surface data. The shape data indicates shapes of the superior designed surface and the plurality of subordinate designed surfaces.

Abstract: A method for estimating a projected path of travel for a vehicle on a road includes monitoring a plurality of sensor inputs, determining a road geometry in front of the vehicle based upon the monitored sensor inputs, determining a vehicle position in relation to the road geometry based upon the monitored sensor inputs, determining a plurality of particle points in front of the vehicle representing a potential path of travel from the road geometry and the vehicle position, and utilizing iteratively determined ones of the plurality of particle points to navigate the vehicle including omitting ones of the plurality of particle points passed by the vehicle.

Abstract: A positioning device includes a map data storing unit configured to store map data; autonomous sensors configured to detect behavior information of a moving object; an inertial positioning unit configured to detect an estimated position of the moving object by applying the behavior information detected by the autonomous sensors to positioning results obtained by an electronic navigation positioning unit such as a GPS; a planimetric feature detecting unit configured to detect a planimetric feature located around a road; a planimetric feature position identifying unit configured to identify a position of the planimetric feature; a planimetric feature reference positioning unit configured to estimate a planimetric feature estimated position of the moving object by using the position of the planimetric feature as a reference; and a position estimating unit configured to estimate a position of the moving object by applying the estimated position and the planimetric feature estimated position to a Kalman filter.

Abstract: In a GPS composite navigation apparatus of a configuration having a GPS receiver, variation in an estimated position, an estimated velocity, and an estimated azimuth of a moving body when the moving body is not moving is resolved, and the GPS/INS integrated navigation system with good response characteristics from a stationary state to a moving state. A stationary detector for determining the stationary state of the moving body is provided, and when it is determined to be the stationary state by the stationary detector, a measurement model used for measurement-update of a Kalman filter is changed, while a changed amount of an error covariance matrix by the update is corrected.

Abstract: A state is added to a Kalman filter to model GPS multipath errors. The multipath states may be modeled as either a random walk model or a Gauss-Markov process. The choice of the model depends on the characteristics of the multi-path error and the GPS receiver. Adding this state to the Kalman filter to model multipath improves the navigation system's robustness when operating as a deeply integrated system when multipath is present.

Abstract: Knowing the global pose of mining excavators provides a range of benefits for managing and automating mining operations. A method for globally locating the pose of an electric mining shovel is described. The system takes measurements from an arbitrary number of RTK-GPS antennas mounted on the machine house and a resolver fitted to the machines' swing axis. A Kalman filter is used to produce estimates of the global locations pose.

Abstract: Embodiments include systems and methods of navigation. In on embodiment, a plurality of position and motion states of a vehicle are estimated. The states may be estimated based on information received from a satellite receiver and an inertial measurement sensor. Estimating the states comprises performing one or more of a plurality of update steps at the rate that information is received from the satellite receiver. The states are estimated at a rate greater than the rate at which the update steps are performed. In one embodiment, the states are estimated using a stepped extended Kalman filter.

Abstract: A method for calculating a navigation phase for a carrier, in a navigation system involving terrain correlation, includes determining a navigability map in which each point of interest of an onboard map is associated with a navigability score. The method is applicable to all terrain aided navigation techniques, and allows the consideration of the quality of the onboard maps and terrain sensors used.

Abstract: A current position detector for a vehicle includes: an angular speed sensor; a speed sensor; a GPS receiver; a traveling trajectory estimating element for estimating a relative trajectory based on an orientation change amount and a traveling distance, and for estimating a traveling trajectory based on the relative trajectory and a GPS signal; and an error estimating element for estimating and correcting each error of an angular speed signal, a speed signal and the GPS signal. The error estimating element estimates a gain error of the angular speed signal such that an attachment angle gain error attributed to an attachment angle of the angular speed sensor and an angular speed gain error attributed to a non-linear gain property of the angular speed sensor are independently estimated.

Abstract: Inertial navigation systems for wheeled vehicles with constrained motion degrees of freedom are described.

Abstract: A method and system for estimating the inception of gimbal motion of an inertial measurement unit (IMU), includes independently filtering, in a computer process, three-axis angular orientation rate information or data from component gyroscopes in the IMU, to provide a first output; adaptively detecting, in another computer process, discontinuities in the first output; estimating a regularity of gimbal motion to provide a second output; and comparing the discontinuities detected in the first output to the estimated regularity of gimbal motion provided in the second output, in another computer process, to determine which of the discontinuities detected in the first output are true discontinuities and which of the discontinuities in the first output that are false discontinuities, and to identify other discontinuities which have been missed in the first output. The true and missed discontinuities are estimates of the inception of gimbal motion of the IMU.

Abstract: The present invention provides systems and methods for improving the accuracy of location data, such as GPS data. In an embodiment, the present invention adjusts coordinates by receiving a sequence of coordinates corresponding to a plurality of locations; identifying in a map database, for each location, polyline features within a distance from the coordinates for the location; calculating emission probabilities for the polyline features; calculating transition probabilities for the polyline feature; and adjusting the coordinates for the plurality of locations so that the adjusted coordinates correspond to polyline features belonging to a sequence of polyline features selected, based on the emission probabilities and the transition probabilities, to be the most likely sequence of polyline features that correspond to the sequence of coordinates.

Abstract: An inertial system is provided. The system includes at least one inertial sensor, a processing unit and a plurality of Kalman filters implemented in the processing unit. The Kalman filters receive information from the at least one inertial sensor. At most one of the plurality of Kalman filters has processed zero velocity updates on the last cycle.