Method and apparatus for compensating for acceleration errors and inertial navigation system employing the same
First Claim
1. An inertial navigation system (INS) comprising:
- a motion detector that detects motion of the INS and indicates stationary time intervals when the INS is stationary and a moving time interval when the INS is moving;
a sensor portion that measures accelerations of the INS during the stationary time intervals and the moving time interval;
an error model determiner that determines an acceleration error of the moving time interval using the accelerations measured during the stationary time intervals, and outputs a corrected acceleration for the moving time interval; and
a position calculator that integrates the corrected acceleration for the moving time interval and outputs the position of the INS.
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Abstract
Provided are a method and apparatus for compensating for an acceleration error in an inertial navigation system (INS). The apparatus includes a motion detector that detects the motion of the INS and outputs information on stationary time intervals during which the INS is stationary and a moving time interval during which the INS is moving; a sensor portion that measures accelerations of the INS for the stationary time intervals and moving time interval, respectively; an error model determiner that determines an acceleration error corresponding to the moving time interval using accelerations measured during the stationary time intervals and outputs an acceleration subjected to correction of the acceleration error for the moving time interval; and a position calculator that integrates the corrected acceleration for the moving time interval and outputs the position of the INS.
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Citations
32 Claims
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1. An inertial navigation system (INS) comprising:
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a motion detector that detects motion of the INS and indicates stationary time intervals when the INS is stationary and a moving time interval when the INS is moving;
a sensor portion that measures accelerations of the INS during the stationary time intervals and the moving time interval;
an error model determiner that determines an acceleration error of the moving time interval using the accelerations measured during the stationary time intervals, and outputs a corrected acceleration for the moving time interval; and
a position calculator that integrates the corrected acceleration for the moving time interval and outputs the position of the INS. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for compensating for an acceleration error using:
- received information about stationary time intervals when a system is stationary;
a moving time interval when the system is moving; and
measured acceleration information for each time interval, the apparatus comprising;
a first acceleration error calculator that approximates accelerations during the stationary time intervals by first-order functions to calculate acceleration errors for the stationary time intervals;
a zero velocity compensator that compensates system velocities for the stationary time intervals and accelerations derived from the velocities; and
a second acceleration error calculator that calculates an acceleration error for the moving time interval using the approximated acceleration errors for the stationary time intervals, and outputs a corrected acceleration for the moving time interval. - View Dependent Claims (12, 13, 14, 15, 16, 17)
- received information about stationary time intervals when a system is stationary;
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18. A method for calculating a position of an inertial navigation system (INS), the method comprising:
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recording acceleration information of the INS;
indicating stationary time intervals when the INS is stationary and a moving time interval when the INS is moving;
approximating acceleration errors for the stationary time intervals by first-order functions using the acceleration information for the stationary time intervals, and performing zero velocity updates to correct the accelerations for the stationary time intervals;
approximating an acceleration error for the moving time interval by a first-order function using the acceleration errors for the stationary time intervals, and calculating a corrected acceleration for the moving time interval; and
calculating the position of the INS using the corrected accelerations for the stationary and moving time intervals. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A method for compensating for an acceleration error using:
- received information about stationary time intervals when a system is stationary;
a moving time interval when the system is moving; and
measured acceleration information for each time interval, the method comprising;
approximating acceleration errors for the stationary time intervals by first-order functions using the acceleration information about the stationary time intervals;
performing zero velocity updates to correct the accelerations for the stationary time intervals;
approximating an acceleration error for the moving time interval by a first-order function, using the acceleration errors approximated for the stationary time intervals; and
subtracting the acceleration error for the moving time interval from the acceleration information and calculating a corrected acceleration for the moving time interval. - View Dependent Claims (27, 28, 29, 30, 31, 32)
- received information about stationary time intervals when a system is stationary;
Specification