Method of estimating the motion of a carrier with respect to an environment and calculation device for navigation system
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United States of America
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Feb 18, 2020
Grant Date -
Nov 30, 2017
app pub date -
Dec 2, 2015
filing date -
Dec 2, 2015
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Abstract
A method for estimating the motion of a carrier with respect to an environment in relation to which the carrier is moving. The carrier bearing a navigation sensor and a vision sensor producing images of the environment. In the images acquired by the vision sensor, the characteristic elements of the images representing characteristic elements of the environment are identified. At least one condensed measurement is calculated as a function of characteristic elements of at least two images acquired at different instants. The motion of the carrier by a navigation filter is estimated, as a function of navigation measurements carried out and as a function of the condensed measurement. The condensed measurement is calculated as a function furthermore of a priori estimation of the motion, as provided by the navigation filter.
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