# How Vehicles and Drones Find Their Way Using Many Sensors > This patent describes a layered computer system that combines data from many different sensors and an Inertial Measurement Unit to precisely determine a mobile platform's position, velocity, and orientation, even in challenging environments. - **Patent:** US 10107627 - **Original title:** Adaptive navigation for airborne, ground and dismount applications (ANAGDA) - **Owner:** Northrop Grumman Systems - **Granted:** 2018 - **Status:** Active - **Times cited:** 5 - **Field:** aerospace, defense, software, telecommunications, robotics, automotive ## What it does This patent describes an adaptive navigation system for mobile platforms like aircraft, ground vehicles, or even dismounted soldiers. It uses a computer onboard the platform with a specific layered architecture to combine various data sources. First, a sensing layer gathers signals from multiple sensors, such as cameras, GPS, or lidar (Claim 5). Next, a processing layer prepares this raw sensor data, potentially using pre-loaded maps or landmark databases (Claim 6). A measurement abstraction layer then converts this data into a standard format, making it independent of the specific sensor hardware. Finally, a fusion layer combines this processed sensor data with movement information from an Inertial Measurement Unit (IMU) to calculate the platform's exact position, velocity, and attitude (Claim 1). For example, an unmanned aerial vehicle (UAV) preparing to land on a moving ship could use this system to fuse its camera images of the ship, GPS data, and its own IMU readings to precisely calculate its relative position to the ship, ensuring a safe landing (Claim 11). ## What it does NOT cover - Does not cover navigation systems that do not include an Inertial Measurement Unit (IMU) onboard the mobile platform. - Does not cover systems that lack the specific layered architecture of sensing, processing, measurement abstraction, and fusion layers as described in the claims. - Does not cover navigation systems that rely solely on a single type of sensor without fusing it with IMU data and other sensor measurements. - Does not cover systems where the fusion calculations do not also produce error estimates, such as IMU error or sensor alignment error (Claim 2). - Does not cover navigation systems that do not produce a full 'platform navigation state' including position, velocity, and attitude. ## The clever bit The novelty lies in its adaptive, hierarchical architecture that intelligently fuses diverse sensor data with IMU information, and critically, incorporates geo-registration to continuously correct for accumulating errors over time, ensuring sustained accuracy. ## Real-world examples 1. Autonomous military drones 2. Precision-guided munitions 3. Advanced aircraft navigation systems 4. Robotic ground vehicles for reconnaissance 5. Unmanned underwater vehicles (UUVs) ## Why it matters This technology is crucial for autonomous systems that need to operate reliably in environments where traditional GPS signals might be unavailable, jammed, or spoofed. By fusing diverse sensor inputs with IMU data, it provides a robust and accurate positioning, navigation, and timing (PNT) solution. This capability is vital for military applications, such as guiding airborne weapons or operating unmanned aerial vehicles, where precision and resilience against signal interference are paramount. ## Frequently asked questions ### What does How Vehicles and Drones Find Their Way Using Many Sensors cover? This patent describes a layered computer system that combines data from many different sensors and an Inertial Measurement Unit to precisely determine a mobile platform's position, velocity, and orientation, even in challenging environments. ### Who owns patent US 10107627? Northrop Grumman Systems owns this patent, granted in 2018. ### When does this patent expire? This patent is expected to expire on March 8, 2037, when the invention enters the public domain. ### What is patent US 10107627 cited by? This patent has been cited by 5 later patents that build on its ideas. ### What problem does this patent solve? This technology is crucial for autonomous systems that need to operate reliably in environments where traditional GPS signals might be unavailable, jammed, or spoofed. By fusing diverse sensor inputs with IMU data, it provides a robust and accurate positioning, navigation, and timing (PNT) solution. This capability is vital for military applications, such as guiding airborne weapons or operating unmanned aerial vehicles, where precision and resilience against signal interference are paramount. ### What does this patent NOT cover? Does not cover navigation systems that do not include an Inertial Measurement Unit (IMU) onboard the mobile platform. **Full plain-English explainer:** https://patentbrief.org/patent/us/10107627/adaptive-navigation-for-airborne-ground-and-dismount-applications-anagda **Original patent:** https://patents.google.com/patent/US10107627 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [Drone Navigation Using Cameras and Echolocation](https://patentbrief.org/patent/us/9562773/autonomous-vehicle-navigation-system-and-method) — This 2017 patent describes a drone navigation system that uses both cameras and echolocation sensors to detect obstacles and find its way, with echolocation taking priority for immediate threats. - [Efficiently Combining Data from Different Sensors](https://patentbrief.org/patent/us/12737436/systems-and-methods-of-sensor-data-fusion) — This patent describes a system for combining information from many different types of sensors more efficiently by carefully selecting and processing the data, reducing the computer power needed. - [How a Smart LIDAR System Adapts to Noise for Better Distance Sensing](https://patentbrief.org/patent/us/20240045038/noise-adaptive-solid-state-lidar-system) — This patent describes a LIDAR system that uses multiple lasers and detectors, and intelligently adjusts the electrical settings of specific detectors to reduce noise and improve distance measurements in different lighting conditions. - [Using a Smartphone to Autonomously Control a Vehicle's Direction](https://patentbrief.org/patent/us/9518821/vehicle-control-system) — This patent describes a system where a smartphone, rigidly mounted to a vehicle, uses its internal sensors to track the vehicle's orientation and then autonomously sends signals to control the vehicle's movement. - [How Autonomous Cars Process Sensor Data for Driving](https://patentbrief.org/patent/us/20220161815/autonomous-vehicle-system) — Intel's 2020 patent describes a system for autonomous vehicles that cleans and standardizes data from various sensors before using it to perceive the environment and make driving decisions.