SYSTEMS AND METHODS FOR IMPROVED INERTIAL NAVIGATION
First Claim
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1. A method for producing inertial measurement data, the method comprising:
- receiving raw inertial measurement data from one or more inertial sensors;
receiving raw position data based on signals from a global navigation satellite system;
processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates; and
calculating enhanced inertial measurement data based on the raw inertial measurement data and the state variable estimates from the filter; and
wherein processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates comprises generating state variable estimates including δ
Δ
v and δ
Δ
θ
.
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Abstract
A method for producing inertial measurement data is provided. The method comprises receiving raw inertial measurement data from one or more inertial sensors; receiving raw position data based on signals from a global navigation satellite system; processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates; and calculating enhanced inertial measurement data based on the raw inertial measurement data and the state variable estimates from the filter.
74 Citations
20 Claims
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1. A method for producing inertial measurement data, the method comprising:
-
receiving raw inertial measurement data from one or more inertial sensors;
receiving raw position data based on signals from a global navigation satellite system;
processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates; and
calculating enhanced inertial measurement data based on the raw inertial measurement data and the state variable estimates from the filter; and
wherein processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates comprises generating state variable estimates including δ
Δ
v and δ
Δ
θ
. - View Dependent Claims (2, 3, 4, 6, 7)
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5. (canceled)
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8. A global navigation satellite system enhanced inertial measurement unit, the unit comprising:
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one or more inertial sensors adapted to detect a change in angular position (Δ
θ
) and a change in velocity (Δ
v) and generate raw inertial measurement data based on the detected change in angular position and change in velocity;
a global navigation satellite system receiver adapted to generate raw position data based on signals received from a global navigation satellite system;
a filter coupled to the one or more inertial sensors and the global navigation satellite system receiver, the filter adapted to calculate one or more estimated state variables including a change to the change in velocity (δ
Δ
v) and a change in the change in angular position (δ
Δ
θ
) based on the raw inertial measurement data and the raw position data; and
an output generator coupled to the one or more inertial sensors and the filter and adapted to calculate an enhanced inertial measurement data based on the sum of the raw inertial measurement data and the one or more estimated state variables. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A navigation system, the system comprising:
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means for generating raw inertial measurement data;
means for generating raw position data;
means for generating state variable estimates responsive to the means for generating raw inertial measurement data and the means for generating raw position data; and
means for calculating enhanced inertial measurement data responsive to the means for generating raw inertial measurement data and the means for generating state variable estimates, and wherein the means for generating state variable estimates generates state variable estimates including one or more of a change to the change in velocity (δ
Δ
v), a change in the change in angular position (δ
Δ
θ
), position (PEST) and a rate of change in position ({dot over (P)}EST). - View Dependent Claims (16, 18)
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17. (canceled)
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19. A navigation system, the system comprising:
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means for generating raw inertial measurement data;
means for generating raw position data;
means for generating state variable estimates responsive to the means for generating raw inertial measurement data and the means for generating raw position data; and
means for calculating enhanced inertial measurement data responsive to the means for generating raw inertial measurement data and the means for generating state variable estimates; and
wherein the means for calculating enhanced inertial measurement data generates data in the form of a change in angular position (Δ
θ
′
) and a change in velocity (Δ
v′
).
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20. A navigation system, the system comprising:
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means for generating raw inertial measurement data;
means for generating raw position data;
means for generating state variable estimates responsive to the means for generating raw inertial measurement data and the means for generating raw position data; and
means for calculating enhanced inertial measurement data responsive to the means for generating raw inertial measurement data and the means for generating state variable estimates; and
wherein the means for calculating enhanced inertial measurement data is further adapted to calculate an enhanced inertial velocity measurement (Δ
v′
) based on a sum of the a change in velocity (Δ
v) and a change to the change in velocity (δ
Δ
v), and calculate an enhanced inertial angular measurement (Δ
θ
′
) based on a sum of a change in angular position (Δ
θ
) and a change in the change in angular position (δ
Δ
θ
).
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Specification