QUALITY METRIC FOR RANGING SENSOR IN A DEGRADED VISUAL ENVIRONMENT FOR A SITUATIONAL AWARENESS SYSTEM

摘要

A method of updating a probabilistic evidence grid used for navigation is provided. The method includes sensing a plurality of defined physical cells with at least one sensor at least one time to gather sensor data regarding the content of the defined physical cells. Each physical cell is associated with an evidence cell in a probabilistic evidence grid that is made up of a plurality of evidence cells. Moreover, each evidence cell in the probabilistic evidence grid contains a probability of occupancy value. It is determined if the gathered sensor data is valid. Probability of occupancy values of evidence cells of the probabilistic evidence grid with associated valid determinations of sensor data are updated. The updated evidence cell probability of occupancy values are then used in a situational awareness system.