Doppler aided inertial navigation
DCFirst Claim
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1. A mobile computing device comprising:
- a receiver that transforms two or fewer intercepted radio frequency emissions external to the mobile computing device into Doppler frequency observables;
a plurality of inertial sensors, each sensor having a linear accelerometer that produces acceleration observables;
a spectral compression positioning sensor that performs spectral compression utilizing a non-linear operation on the Doppler frequency observables to produce a set of Doppler frequency observables in a format for physical state estimation by the physical state estimator; and
a physical state estimator that;
processes the set of Doppler frequency observables and the acceleration observables to determine a member of a physical state of the mobile computing device;
converts Doppler frequency observables to speed; and
corrects inertial drift error of the plurality of inertial sensors based on the speed.
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Abstract
Doppler Aided Inertial Navigation (DAIN) facilitates the determination of position, velocity and direction of mobile devices operating in highly obstructed GPS/GNSS environments. Delivering high precision, high resolution positioning information using signals of opportunity, the present invention measures the Doppler shift of a moving device using a variety of signals combined with inertial accelerometers and environmental sensors to deliver an autonomous positioning and navigation capability that does not require external infrastructure or a priori knowledge of signal sources.
7 Citations
17 Claims
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1. A mobile computing device comprising:
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a receiver that transforms two or fewer intercepted radio frequency emissions external to the mobile computing device into Doppler frequency observables; a plurality of inertial sensors, each sensor having a linear accelerometer that produces acceleration observables; a spectral compression positioning sensor that performs spectral compression utilizing a non-linear operation on the Doppler frequency observables to produce a set of Doppler frequency observables in a format for physical state estimation by the physical state estimator; and a physical state estimator that; processes the set of Doppler frequency observables and the acceleration observables to determine a member of a physical state of the mobile computing device; converts Doppler frequency observables to speed; and corrects inertial drift error of the plurality of inertial sensors based on the speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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intercepting, at a RF Doppler Receiver, two or fewer radio frequency emissions external to a mobile computing device; transforming, at a spectral compression positioning sensor, by spectral compression utilizing a non-linear operation, the Doppler frequency observables from the two or fewer intercepted radio frequency emissions into a set of Doppler frequency observables for physical state estimation; receiving, at a physical state estimator, acceleration observables from a linear accelerometer from a plurality of inertial sensors associated with the mobile computing device; processing, at the physical state estimator, the set of Doppler frequency observables and received acceleration observables to determine a member of a physical state of the mobile computing device; determining, at a narrowband signal detector, speed of the mobile computing device from the Doppler frequency observables; and correcting, at the physical state estimator, inertial drift error based on the speed. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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Specification