Methods and systems for vertical trajectory determination
First Claim
1. A vertical position and velocity determination system for an inertial measurement unit (IMU) integrated with a barometric altimeter in an IMU-baro, the vertical position and velocity determination system comprising:
- a rate of turn input connected to receive a measured IMU-baro orientation;
an acceleration input connected to receive a measured IMU-baro acceleration;
a barometric pressure input connected to receive a measured IMU-baro altitude;
a first Kalman filter connected to the rate of turn input and to the acceleration input to estimate a roll and pitch of the IMU-baro based on the measured IMU-baro orientation and the measured IMU-baro acceleration; and
a second Kalman filter connected to the acceleration input, to the barometric pressure input, and to the first Kalman filter, the second Kalman filter cascaded with the first Kalman filter to receive the estimate of the roll and pitch of the IMU-baro from the first Kalman filter and to estimate vertical position and vertical velocity of the IMU-baro based on the measured IMU-baro acceleration, a barometric pressure measured using a barometric altimeter, and the estimate of the roll and pitch of the IMU-baro.
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Abstract
This disclosure provides a vertical position and velocity determination system for inertial measurement unit (IMU) integrated with a barometric altimeter in the same device (IMU-baro). The system includes a rate of turn input connected to receive a measured IMU-baro rate of turn; an acceleration input connected to receive a measured IMU-baro acceleration; a barometric pressure input connected to receive a measured IMU-baro altitude; a first Kalman filter connected to the rate of turn input and to the acceleration input to estimate a roll and pitch of the IMU-baro based on the measured IMU-baro rate of turn and the measured IMU-baro acceleration; and a second Kalman filter connected to the acceleration input, to the barometric pressure input, and to the first Kalman filter.
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Citations
15 Claims
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1. A vertical position and velocity determination system for an inertial measurement unit (IMU) integrated with a barometric altimeter in an IMU-baro, the vertical position and velocity determination system comprising:
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a rate of turn input connected to receive a measured IMU-baro orientation; an acceleration input connected to receive a measured IMU-baro acceleration; a barometric pressure input connected to receive a measured IMU-baro altitude; a first Kalman filter connected to the rate of turn input and to the acceleration input to estimate a roll and pitch of the IMU-baro based on the measured IMU-baro orientation and the measured IMU-baro acceleration; and a second Kalman filter connected to the acceleration input, to the barometric pressure input, and to the first Kalman filter, the second Kalman filter cascaded with the first Kalman filter to receive the estimate of the roll and pitch of the IMU-baro from the first Kalman filter and to estimate vertical position and vertical velocity of the IMU-baro based on the measured IMU-baro acceleration, a barometric pressure measured using a barometric altimeter, and the estimate of the roll and pitch of the IMU-baro. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A computer program product, comprising a non-transitory computer readable storage medium having a computer readable program code embodied therein, said computer readable program code adapted to be executed to implement a method for determining vertical position and velocity of an inertial measurement unit with integrated altimeter barometer in an IMU-baro, the method comprising:
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measuring a rate of turn of the IMU-baro, an acceleration of the IMU-baro, and a barometric pressure; estimating, according to a first Kalman filter operation, a roll and pitch of the IMU-baro based on the rate of turn and the acceleration; providing the roll and pitch from the first Kalman filter operation to a second Kalman filter operation; estimating, according to the second Kalman filter operation, a vertical position and a vertical velocity of the IMU-baro based on the acceleration, the barometric pressure, and the roll and pitch; and determining the vertical position and velocity of the IMU-baro based on the estimate of the vertical position and the vertical velocity; and
,outputting the vertical position and the vertical velocity based on the determination. - View Dependent Claims (8, 9)
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10. An apparatus for determining an altitude of an IMU-baro, the apparatus comprising:
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a rate of turn input connected to receive a measured orientation of the IMU-baro; an acceleration input connected to receive a measured acceleration of the IMU-baro; a barometric pressure input connected to receive a measured barometric pressure of the IMU-baro; a first Kalman filter configured to estimate a roll and pitch of the IMU-baro based on the measured orientation and the measured acceleration; and a second Kalman filter connected to the first Kalman filter in a cascade arrangement to receive the estimate of the roll and pitch of the IMU-baro, the second Kalman filter configured to; estimate a vertical position and a vertical velocity of the IMU-baro based on the estimate of the roll and pitch of the IMU-baro, the measured acceleration, and a measured barometric pressure, and output the estimate of the vertical position and the vertical velocity of the IMU-baro. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification