| CPC G01C 21/005 (2013.01) [G01C 21/20 (2013.01)] | 18 Claims |
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1. A method, comprising:
for each of a plurality of pairs of agents formed from a plurality of agents, receiving relative distance data specifying distance between the pair of agents formed from the plurality of agents, each of a subset of the plurality of agents having an anomaly sensor subsystem;
determining relative pose data between each pair of agents of the plurality of pairs of agents based at least in part on the relative distance data between each pair of agents of the plurality of pairs of agents;
receiving, at a navigation computer, anomaly data from at least the anomaly sensor subsystem of one of the subset of the plurality of agents;
obtaining, at the navigation computer, pre-surveyed map data;
determining, at the navigation computer, global pose data of the plurality of agents based at least in part on the relative pose data and based on comparing the anomaly data to the pre-surveyed map data;
providing the global pose data as input, along with operational task objectives and terrain map data to a decisions engine;
providing, by the decisions engine, dynamic maneuvering instructions to at least some of the plurality of agents; and
navigating the at least some of the plurality of agents based at least in part on the determined global pose data of the plurality of agents, wherein the at least some of the plurality of agents comprise passive operations agents that do not transmit data, each of the passive operations agents receives relative distance data between the passive operations agent and one or more pseudolites, and the plurality of agents do not include the one or more pseudolites.
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