US 12,241,744 B2
Geolocation system and method
Benyamin Goldman, Netanya (IL); Ido Ariav, Netanya (IL); Asaf Avinoam, Netanya (IL); David Zaphir, Netanya (IL); Ohad Volvovitch, Netanya (IL); and Yaron Mayerowicz, Netanya (IL)
Assigned to ELBIT SYSTEMS C4I AND CYBER LTD., Netanya (IL)
Filed by ELBIT SYSTEMS C4I AND CYBER LTD., Netanya (IL)
Filed on Jul. 31, 2024, as Appl. No. 18/789,922.
Application 18/789,922 is a continuation of application No. PCT/IL2023/050108, filed on Jan. 31, 2023.
Claims priority of application No. 290466 (IL), filed on Feb. 2, 2022.
Prior Publication US 2024/0384992 A1, Nov. 21, 2024
Int. Cl. G01C 21/00 (2006.01); G06T 7/33 (2017.01); G06T 7/73 (2017.01)
CPC G01C 21/005 (2013.01) [G06T 7/337 (2017.01); G06T 7/74 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A system for determining a geolocation of a mobile object movable through a terrain in a Global Navigation Satellite System (GNSS) signal attenuated environment, the system comprising:
a sensor mountable on the mobile object and configured to obtain a dataset of a scene including three or more scene points;
a digital storage unit configured to store a semantically segmented reference dataset representing the scene, the semantically segmented reference dataset having a reference coordinate system; and
a processing unit configured to:
determine three or more distances between the sensor and the three or more scene points;
generate, based on the determined distance, an object semantically segmented projection dataset comprising a projection of the detected three or more scene points in the reference coordinate system;
register the semantically segmented projection dataset with respect to the semantically segmented reference dataset;
based on the registration, identify the three or more scene points of the obtained dataset of the scene in the reference dataset to yield scene points real-world geographical locations thereof; and
determine, based on the three or more distances and the scene points real-world geographical locations, a current real-world geographical location of the mobile object.