×

Methods and systems for vertical trajectory determination

  • US 10,222,213 B2
  • Filed: 10/01/2015
  • Issued: 03/05/2019
  • Est. Priority Date: 10/01/2014
  • Status: Expired due to Fees
First Claim
Patent Images

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.

View all claims
  • 0 Assignments
Timeline View
Assignment View
    ×
    ×