GROUND VEHICLE NAVIGATION METHOD Russian patent published in 2019 - IPC G08G1/968 G01C21/16 G01S19/49 G01S19/00 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measuring equipment. Method of ground vehicle navigation consists in reception of frames representing vehicle environment, establishment of change of position between frames, evaluation of change of direction of vehicle motion. After receiving the frames, selecting regions with size of at least 50 × 50 pixels, measuring distances from vehicle to each point of said areas, determining in each selected region of point (mark), storing relative position of marks in regions, searching for previously selected areas on subsequent frames of the image, evaluating the reliability of this search, measuring distances from the vehicle to previously determined marks, calculating change in the relative position of marks between frames. At that, establishment of change of position between frames is performed based on change of relative position of marks between frames and evaluation of reliability of regions search, evaluation of change of direction of movement and coordinates of vehicle is carried out taking into account change of position between frames and distances to marks, and distance to image points is determined by range finder.

EFFECT: higher accuracy of vehicle position calculation in space.

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