Title:
地形を進む有脚動物のための地形ナビゲーション装置
Document Type and Number:
Japanese Patent JP3602095
Kind Code:
B2
Abstract:
Terrain navigation apparatus (1) for a legged animal (2) traversing terrain (3) including a first system (4) for determining position, velocity and heading of the legged animal incorporating sensing means for sensing inertial motion in six degrees of freedom operable to provide signals indicative of a first velocity (5a), a first heading (7a) and a first position (9a) of the legged animal (2), contact means (11) for establishing, in a velocity profile describing motion of either foot of the legged animal, a period where the velocity should be zero (17), which period corresponds to full or partial contact of the respective foot (13a, 13b) with surrounding terrain (3), and error-estimating means (15) for receiving as input signals the velocity profile during the period and for providing as output signals estimates of errors (19) associated with the sensing means output signals, which errors operatively interact with the output signals of the first system to effect terrain navigation of the legged animal (2).
Inventors:
Rayleigh, Richard, Harold, Warren
Juan Ten Lithyard, Jiyoung
Juan Ten Lithyard, Jiyoung
Application Number:
JP2001510804A
Publication Date:
December 15, 2004
Filing Date:
June 30, 2000
Export Citation:
Assignee:
BAE SYSTEMS plc
International Classes:
G01C19/00; G01C21/00; G01C21/16; G01C22/00; G08G1/005; (IPC1-7): G01C21/16; G01C22/00; G01S5/14
Domestic Patent References:
| JP9189564A | ||||
| JP10332418A | ||||
| JP9119843A | ||||
| JP10260055A | ||||
| JP9243383A |
Foreign References:
| DE19830150A1 |
Attorney, Agent or Firm:
Shigeru Yagida
Takao Hamano
Morita Tetsuji
Takao Hamano
Morita Tetsuji