System and method for employing an aided-alignment mode to align an inertial reference system

• US 20060047427A1
• Filed: 08/30/2004
• Published: 03/02/2006
• Est. Priority Date: 08/29/2003
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Ryno, Thomas A., Broderick, James B., Weed, Doug M.
• Granted Patent: US 7,606,665 B2
• Time in Patent Office: Days
• US Class Current: 701/220
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A system and method for aligning an inertial reference system, which is coupled to a moveable body, is provided. The method includes obtaining unaided navigation state information from an unaided source, and obtaining aiding state information from an aiding source. The unaided navigation state information is generated by the unaided source using navigation information provided by an inertial reference, and the aiding state information is generated by the aiding source using navigation information provided by at least one external reference. The method also includes determining an unaided navigation solution using the unaided navigation state information, and determining an aided navigation solution using a combination of the unaided and aiding state information. As a default, the method provides the unaided navigation solution for navigating the movable body. When the aided navigation solution provides a better solution for navigating the movable body, the unaided navigation solution is replaced with the aided navigation solution.

Claims

1. A method for aligning an inertial reference system that is coupled to a moveable body, the method comprising:

(a) obtaining from an unaided source unaided navigation state information, wherein the unaided source generates the unaided navigation state information using navigation information provided by an inertial reference;

(b) obtaining from an aiding source aiding state information, wherein the aiding source generates the aiding state information using navigation information provided by at least one external reference;

(c) determining an unaided navigation solution using the unaided navigation state information;

(d) determining an aided navigation solution using a combination of the unaided and aiding state information;

(e) providing the unaided navigation solution for navigating the movable body; and

(f) replacing the unaided navigation solution with the aided navigation solution when the aided navigation solution provides a better navigation solution for navigating the movable body.

2. The method of claim 1, wherein unaided source comprises an inertial-data device, and wherein the aiding source comprises a device that obtains navigation information from at least one external reference.

3. The method of claim 1, wherein at least a portion of the first source is combined with at least a portion of the second source.

4. The method of claim 1, wherein

(i) the unaided navigation solution is an outcome of a stationary alignment, and

(ii) the aided navigation solution is an outcome of an aided alignment.

5. The method of claim 4, wherein the unaided and aided navigation solutions are initialized concurrently in response to a power cycle of the inertial reference system.

6. The method of claim 4, wherein the aided navigation solution of the aided alignment is initialized using at least a portion of the unaided navigation solution of the stationary alignment.

7. The method of claim 4, wherein the unaided navigation solution comprises a first attitude of the body, wherein the aided navigation solution comprises a second attitude of the body, and wherein the first and second attitudes each comprise respective pitch, roll and heading data.

8. The method of claim 5, wherein the unaided navigation solution further comprises a first velocity and position of the body, and wherein the aided navigation solution further comprises a second velocity and position of the body.

9. The method of claim 1, wherein

(i) the unaided navigation solution is an outcome of a reversionary-attitude alignment, and

(ii) the aided navigation solution is an outcome of an in-motion alignment.

10. The method of claim 9, wherein the unaided and aided navigation solutions are initialized concurrently in response to a power cycle of the inertial reference system.

11. The method of claim 9, wherein the aided navigation solution is initialized using at least a portion of the unaided navigation solution of the stationary alignment.

12. The method of claim 9, wherein the unaided navigation solution comprises a pitch and roll of the body, but not a heading, wherein the aided navigation solution comprises an attitude of the body, and wherein the attitude comprises pitch, roll and heading data.

13. The method of claim 10, wherein the unaided navigation solution further comprises a first velocity and position of the body, and wherein the aided navigation solution further comprises a second velocity and position of the body.

14. The method of claim 9, wherein at least a portion of the unaided source is combined with at least a portion of the aiding source.

15. The method of claim 14, wherein the combined portions of the unaided and aiding sources obtain the navigation information from the inertial reference, and wherein the aiding source uses the navigation information from the inertial reference in combination with the navigation information provided by the at least one external reference to generate the aiding state information.

16. The method of claim 9, wherein the in-motion alignment is performed in response to a loss of power to at least a portion of the inertial reference system.

17. The method of claim 9, wherein the in motion alignment is performed in response to aborting a stationary alignment before completion.

18. The method of claim 17, wherein at least a portion of the aided navigation solution for the in-motion alignment mode is initialized using at least a portion of a navigation solution developed for the aborted stationary alignment.

19. The method of claim 9, wherein at least a portion of the aided navigation solution for the in-motion alignment mode is initialized using at least a portion of the unaided navigation solution developed for the reversionary-attitude alignment.

20. The method of claim 9, wherein at least a portion of the aided navigation solution for the in-motion alignment mode is initialized using navigation information developed by a warm-start initialization.

21. The method of claim 20, wherein the warm-start initialization is performed in response to a loss of power to at least a portion of the inertial reference system, wherein the loss of power is less than a given threshold of time, and wherein the navigation information developed by a warm-start initialization is developed by extrapolating a stored navigation solution across the given threshold of time.

22. The method of claim 21, wherein:

(i) the navigation information developed by the warm-start initialization comprises a first attitude, wherein the first attitude comprises a pitch, roll, and heading of the body that is generated using navigation information provided by the inertial reference before and after the loss of power; and

(ii) the aided navigation solution comprises a second attitude, wherein the second attitude comprises a pitch, roll and heading that is generated using navigation information provided by the inertial reference before and after the loss of power.

23. The method of claim 22, wherein the unaided navigation solution further comprises a first velocity and position of the body, and wherein the aiding navigation further comprises a second velocity and position of the body.

24. A system for aligning an inertial reference system that is coupled to a moveable body, the system comprising:

an unaided source that is operable to generate an unaided navigation state information using navigation information provided by an inertial reference;

an aiding source that is operable to generate an aided navigation state information using navigation information provided by at least one external reference;

a navigation device that is operable to (i) determine an unaided navigation solution using the unaided navigation state information, and (ii) determine an aided navigation solution using a combination of the unaided and aiding state information;

an integrity-check device that is operable to (i) provide the unaided navigation solution for navigating the movable body, and (ii) replace the unaided navigation solution with the aided navigation solution when the aided navigation solution provides a better navigation solution for navigating the movable body.

25. The system of claim 24, further comprising control logic that is operable to inhibit using of the aiding state information after transitioning to a navigation mode.

26. The system of claim 24, wherein at least a portion of the unaided source is combined with at least a portion of the aiding source.

27. The system of claim 24, wherein unaided source comprises an inertial-data device, and wherein the aiding source comprises a device that obtains navigation information from at least one external reference.

28. The system of claim 27, wherein the inertial data device comprises at least one gyroscope, at least one accelerometer, and at least one altitude sensor.

29. The system of claim 27, wherein the aiding device comprises a device selected from the group consisting of a global positioning system receiver, a TACtical Air Navigation (TACAN) receiver, an OMEGA satellite navigation receiver, a Doppler radar device, a magnetometer, and a radio-ranging device.

30. The system of claim 24, wherein (i) the unaided navigation solution is an outcome of a stationary alignment, and (ii) the aided navigation solution is an outcome of an aided alignment.

31. The system of claim 30, wherein the unaided state and aided navigation solutions are initialized concurrently in response to a power cycle of the inertial reference system.

32. The system of claim 30, wherein the aided navigation solution of the aided alignment is initialized using at least a portion of the unaided navigation solution of the stationary alignment.

33. The system of claim 30, further comprising control logic that is operable to allow the stationary and aided alignments to be concurrently performed.

34. The system of claim 24, wherein (i) the unaided navigation solution is an outcome of a reversionary-attitude alignment, and (ii) the aided navigation solution is an outcome of an in-motion alignment.

35. The system of claim 24, wherein the unaided and aided navigation solutions are initialized concurrently in response to a power cycle of the inertial reference system.

36. The system of claim 24, wherein the aided navigation solution is initialized using at least a portion of the unaided navigation solution of the stationary alignment.

37. The system of claim 34, wherein the system is operable to perform the in-motion alignment in response to a loss of power to at least a portion of the inertial reference system.

38. The system of claim 34, wherein the system is operable to perform the in-motion alignment in response to aborting a stationary alignment before completion.

39. The system of claim 38, wherein at least a portion of the aided navigation solution for the in-motion alignment mode is initialized using at least a portion of a navigation solution developed for an aborted stationary alignment.

40. The system of claim 24, wherein at least a portion of the aided navigation solution for the in-motion alignment mode is initialized using navigation information developed by a warm-start initialization.

41. The system of claim 24, wherein the warm-start initialization is performed in response to a loss of power to at least a portion of the inertial reference system, wherein the loss of power is less than a given threshold of time, and wherein the navigation information developed by a warm-start initialization is developed by extrapolating a stored navigation solution across the given threshold of time.