A weapon platform for accurately locating and/or tracking enemy targets is described. The weapon platform may include an electro-optical sensor unit comprising one or more sensors, an electro-optical camera, and a plurality of local targets located within the weapon system. The camera may observe the local targets and output information regarding the spatial relationship between the sensor unit and a weapon connected to the weapon platform. The local targets may be connected to the weapon, to the weapon platform, and/or to the sensor unit. Using the information regarding the spatial relationship, the weapon may be steered toward enemy targets that are located using the sensor unit.

A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.

A method of determining a trajectory of a mobile platform includes obtaining a satellite positioning system (SPS) measurement from one or more SPS signals acquired by an SPS receiver of the mobile platform. The method also includes obtaining a visual-inertial odometry (VIO) measurement of the mobile platform from a VIO system of the mobile platform. A first position estimate of the mobile platform is determined based, at least in part, on the SPS measurement and the VIO measurement. The method then includes adjusting the first position estimate to generate a smoothed position estimate based, in part, on a smoothing parameter that controls a smoothness of the trajectory. The trajectory of the mobile platform is then determined, at least in part, using the smoothed position estimate.

A surveying instrument includes: a survey system; an image sensing system, including first and second image sensing units, the second having an angle of view wider than that of the first; horizontal and vertical angle drivers to rotate the survey and image sensing systems around a surveying instrument vertical and horizontal axes, respectively; a data storage part; an angle detecting part; and a control unit to cause an image, based on image data the first or second generates after imaging, a design data object for showing the design data portion locations included in the image, and coordinate measurement point objects for showing the coordinate measurement points locations, to be surveyed, corresponding to the design data portion included in the image, to appear on a representation device in response to the design data stored in the data storage part and the detected angle.

A method for aligning visual-inertial odometry (VIO) and satellite positioning system (SPS) reference frames includes obtaining a plurality of range-rate measurements of a mobile platform from an SPS. The range-rate measurements are with respect to a global reference frame of the SPS. The method also includes obtaining a plurality of VIO velocity measurements of the mobile platform from a VIO system. The VIO velocity measurements are with respect to a local reference frame of the VIO system. At least one orientation parameter is then determined to align the local reference frame with the global reference frame based on the range-rate measurements and the VIO velocity measurements.

Disclosed are methods, systems, devices, apparatus, computer-/processor-readable media, and other implementations, including a method, at a processor-based mobile device, that includes determining a first set of candidate positions of the mobile device corresponding to a first time instance based, at least in part, on position data including a first set of identifiers decoded from signals including respective first one or more light-based communications received by the mobile device from a first one or more light devices, with the mobile device being located at a first location at the first time instance. The method further includes selecting at least one candidate position from the first set of candidate positions, in response to a determination that the first set of candidate positions includes more than one candidate position, in order to resolve positional ambiguity, based, at least partly, on further position data from further signals from one or more devices.

A method of determining a position of a mobile platform includes obtaining a plurality of pseudorange measurements from multiple time epochs of a satellite navigation system (SPS) and obtaining a plurality of visual-inertial odometry (VIO) velocity measurements from a VIO system. Each time epoch of the SPS includes at least one pseudorange measurement corresponding to a first satellite and at least one pseudorange measurement corresponding to a second satellite. The method also includes combining the plurality of pseudorange measurements with the plurality of VIO velocity measurements to identify one or more outlier pseudorange measurements in the plurality of pseudorange measurements. The one or more outlier pseudorange measurements are then discarded from the plurality of pseudorange measurements to generate a remaining plurality of pseudorange measurements. The position of the mobile platform is then computed based on the remaining plurality of pseudorange measurements and the plurality of VIO velocity measurements.

Some embodiments of the invention relate to a handheld measuring aid for use in a system—having a station for position and orientation determination of the handheld measuring aid—for surveying an object surface. the handheld measuring aid has in this case on a body, visual markings which are arranged in a defined spatial relationship, forming a pattern, on the body in a marking region, a measuring probe, which is arranged on an orifice of the body in a defined spatial relationship in relation to the pattern, for the object surface, an operating element, an electronic circuit for generating a measurement triggering signal—occurring as a function of an actuation of the operating element—and wireless communication means for transmitting the measurement triggering signal to the station.

A system for an installation and a method for operating a system, including stationary transceiver modules and a vehicle having a transceiver module, the individual transceiver module having a controllable light source and a light sensor, so that a data transmission is able to be carried out between the vehicle and the stationary modules.

This specification discloses computer-based systems, methods, devices, and other techniques for estimating the pose of a device, including estimating the pose based on images captured by a set of image sensors disposed around the device's periphery. Some implementations include a system that obtains visual data representing at least one image captured by one or more image sensors of a mobile device. The at least one image show an environment of the mobile device, and the one or more image sensors are located at respective corners of the mobile device, or at other locations around its periphery. The system processes the visual data to determine a pose of the mobile device. Further, the system can determine a location of the mobile device in the environment based on the pose, and can present an indication of the location of the mobile device in the environment.