Smoothed navigation solution using filtered resets

• US 10,168,157 B2
• Filed: 03/10/2017
• Issued: 01/01/2019
• Est. Priority Date: 10/25/2012
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Buck, Timothy Merrill, Vallot, Lawrence Charles, Snyder, Scott I.
• Primary Examiner(s): Tissot, Adam D
• Assistant Examiner(s): Smith, Aaron C
• Application Number:
  US15/455,723
• Publication Number:
  US 20170184404A1
• Time in Patent Office: 662 Days
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Abstract

A navigation system includes at least one inertial sensor configured to detect motion of the system and generate inertial data; at least one aiding device configured to generate aiding device measurement data; at least one processing unit configured to generate an un-smoothed navigation solution inclusive of navigation state variable error resets based on the inertial data and the aiding device measurement data; wherein the at least one processing unit is further configured to sum the state variable error resets into a cumulative sum of the state variable error resets; wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets; and wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets from the un-smoothed navigation solution to generate a smoothed navigation solution.

Claims

1. A navigation system comprising:

at least one inertial sensor configured to detect motion of the system and generate inertial data;

at least one aiding device configured to generate aiding device measurement data;

at least one processing unit configured to generate an un-smoothed navigation solution based on the inertial data and the aiding device measurement data, the un-smoothed navigation solution inclusive of state variable error resets for a state variable;

wherein the at least one processing unit is further configured to sum the state variable error resets for the state variable into a cumulative sum of the state variable error resets for the state variable;

wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets for the state variable; and

wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution.

2. The system of claim 1, wherein the un-smoothed navigation solution is fed back to the at least one processing unit as a previously calculated un-smoothed navigation solution.

3. The system of claim 2, wherein the at least one processing unit is further configured to subtract the previously calculated un-smoothed navigation solution from the aiding device measurement data to determine error measurements between the aiding device measurement data supplied by the aiding device and the previously calculated un-smoothed navigation solution;

wherein the at least one processing unit is further configured to generate state variable error resets for the state variable based on the error measurements between the aiding device measurement data and the previously calculated un-smoothed navigation solution; and

wherein the at least one processing unit is further configured to generate the un-smoothed navigation solution inclusive of state variable error resets for the state variable based on the inertial data and the aiding device measurement data by calculating the un-smoothed navigation solution based on the inertial data and the state variable error resets for the state variable.

4. The system of claim 1, wherein the aiding device includes at least one of a global navigation satellite system (GNSS) receiver, a magnetometer, a pressure sensor, a master inertial navigation system, a Doppler radar receiver, and LOng RAnge Navigation (LORAN) based positioning receiver;

and

wherein the aiding device measurement data comprises at least one of position data, location data, velocity data, heading data, and orientation data.

5. The system of claim 1, wherein the aiding device is further configured to receive the smoothed navigation solution and to use the smoothed navigation solution to aid in generating the aiding device measurement data.

6. The system of claim 1, wherein the aiding device is further configured to receive the un-smoothed navigation solution and to use the un-smoothed navigation solution to aid in generating the aiding device measurement data.

7. The system of claim 1, wherein each of the un-smoothed navigation solution and the smoothed navigation solution includes at least one of a velocity solution, an altitude solution, a latitude and longitude solution, and an attitude solution;

wherein the state variable error resets includes at least one of a velocity error reset, an altitude error reset, a latitude and longitude error reset, and an attitude error reset;

wherein the at least one processing unit is configured to sum at least one of velocity error resets into a cumulative sum of velocity error resets, altitude error resets into a cumulative sum of altitude error resets, latitude and longitude error resets into a cumulative sum of latitude and longitude error resets, and attitude error resets into a cumulative sum of attitude error resets; and

wherein the at least one processing unit is configured to subtract at least one of the high pass filtered cumulative sum of velocity error resets, the high pass filtered cumulative sum of altitude error resets, the high pass filtered cumulative sum of latitude and longitude error resets, and the high pass filtered cumulative sum of attitude error resets from at least one of a corresponding velocity solution, altitude solution, latitude and longitude solution, and attitude solution.

8. A method of generating a smoothed navigation solution for a vehicle comprising:

generating state variable error resets for a state variable based on aiding device measurement data provided by an aiding device and inertial data provided by an inertial device onboard a vehicle using at least one processing unit onboard the vehicle;

determining an un-smoothed navigation solution inclusive of the state variable error resets for the state variable using the at least one processing unit onboard the vehicle;

summing the state variable error resets for the state variable into a cumulative sum of the state variable error resets for the state variable using the at least one processing unit onboard the vehicle;

high pass filtering the cumulative sum of the state variable error resets for the state variable using the at least one processing unit onboard the vehicle; and

subtracting the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution using the at least one processing unit onboard the vehicle.

9. The method of claim 8, wherein the un-smoothed navigation solution is fed back as a previously calculated un-smoothed navigation solution to be used in generating the state variable error resets for the state variable, wherein the un-smoothed navigation solution is indirectly based on the aiding device measurement data provided by the aiding device through the state variable error resets for the state variable and directly based on the inertial data provided by the inertial device.

10. The method of claim 9, wherein generating the state variable error resets for the state variable includes:

subtracting the previously calculated un-smoothed navigation solution from the aiding device measurement data to determine error measurements between the aiding device measurement data and the previously calculated un-smoothed navigation solution; and

generating the state variable error resets for the state variable based on the error measurements between the aiding device measurement data and the previously calculated un-smoothed navigation solution; and

wherein determining the un-smoothed navigation solution inclusive of state variable error resets for the state variable using at least one processing unit onboard the vehicle includes;

generating the un-smoothed navigation solution inclusive of state variable error resets for the state variable using the at least one processing unit based on the inertial data and the aiding device measurement data by calculating the un-smoothed navigation solution based on the inertial data and the state variable error resets.

11. The method of claim 8, further comprising receiving the smoothed navigation solution at the aiding device;

and

generating the aiding device measurement data based on signals regarding at least one of a position, a location, a velocity, a heading, and an orientation of the system and the smoothed navigation solution received at the aiding device.

12. The method of claim 8, further comprising receiving the un-smoothed navigation solution at the aiding device;

and

generating the aiding device measurement data based on signals regarding at least one of a position, a location, a velocity, a heading, and an orientation of the system and the un-smoothed navigation solution received at the aiding device.

13. The method of claim 8, wherein the aiding device includes at least one of a global navigation satellite system (GNSS) receiver, a magnetometer, a pressure sensor, a master inertial navigation system, a Doppler radar receiver, LOng RAnge Navigation (LORAN) based positioning receiver;

and

wherein the aiding device measurement data comprises at least one of position data, location data, velocity data, heading data, and orientation data.

14. The method of claim 8, wherein each of the un-smoothed navigation solution and the smoothed navigation solution includes at least one of a velocity solution, an altitude solution, a latitude and longitude solution, and an attitude solution;

wherein the state variable error resets includes at least one of velocity error resets, altitude error resets;

latitude and longitude error resets; and

attitude error resets;

wherein summing state variable error resets into a cumulative sum of the state variable error resets for the state variable includes summing at least one of the velocity error resets, the altitude error resets, the latitude and longitude error resets, and the attitude error resets;

wherein high pass filtering the cumulative sum of the state variable error resets for the state variable includes high pass filtering at least one of a cumulative sum of velocity error resets, a cumulative sum of altitude error resets, a cumulative sum of latitude and longitude error resets, and a cumulative sum of attitude error resets.

15. A navigation system comprising:

at least one inertial sensor configured to detect motion of the system and generate inertial data based on the detected motion of the system;

at least one aiding device configured to supply aiding device measurement data based on at least one of a position, a location, a velocity, a heading, and an orientation of the system;

at least one Kalman filter configured to generate state variable error resets for a state variable based on error measurements between the aiding device measurement data supplied by the aiding device and a previously calculated un-smoothed navigation solution;

at least one navigator configured to receive inertial data from the at least one inertial sensor and the state variable error resets for the state variable from the at least one Kalman filter, the at least one navigator further configured to calculate an un-smoothed navigation solution based on the inertial data and the state variable error resets, the un-smoothed navigation solution inclusive of the state variable error resets for the state variable;

wherein the un-smoothed navigation solution is fed back as the previously calculated un-smoothed navigation solution;

a state variable error reset summer configured to receive the state variable error resets for the state variable and to sum the state variable error resets for the state variable into a cumulative sum of state variable error resets for the state variable;

a high pass filter configured to high pass filter the cumulative sum of state variable error resets for the state variable; and

a first summer configured to subtract the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution.

16. The system of claim 15, further comprising:

a second summer configured to generate the error measurements between the aiding device measurement data supplied by the aiding device and the previously calculated un-smoothed navigation solution by subtracting the previously calculated un-smoothed navigation solution from the aiding device measurement data.

17. The system of claim 15, wherein the aiding device includes at least one of a global navigation satellite system (GNSS) receiver, a magnetometer, a pressure sensor, a master inertial navigation system, a Doppler radar receiver, LOng RAnge Navigation (LORAN) based positioning receiver;

and

wherein the aiding device measurement data comprises at least one of position data, location data, velocity data, heading data, and orientation data.

18. The system of claim 15, wherein each of the un-smoothed navigation solution and the smoothed navigation solution includes at least one of a velocity solution, an altitude solution, a latitude and longitude solution, and an attitude solution;

wherein the state variable error resets includes at least one of a velocity error reset, an altitude error reset;

a latitude and longitude error reset; and

an attitude error reset;

wherein the state variable error reset summer includes at least one of a velocity error reset summer;

an altitude error reset summer;

a latitude and longitude error reset summer; and

an attitude error reset summer; and

wherein the high pass filter is configured to high pass filter at least one of a cumulative sum of velocity error resets, a cumulative sum of altitude error resets, a cumulative sum of latitude and longitude error resets, and a cumulative sum of attitude error resets.

19. The system of claim 15, wherein the aiding device is further configured to receive the smoothed navigation solution and to use the smoothed navigation solution to aid in supplying the aiding device measurement data.

20. The system of claim 15, wherein the aiding device is further configured to receive the un-smoothed navigation solution and to use the un-smoothed navigation solution to aid in supplying the aiding device measurement data.