SYSTEMS AND METHODS FOR A HYBRID TRANSITION MATRIX
First Claim
1. A navigation system for a vehicle, the system comprising:
- at least one inertial sensor;
at least one navigation aid;
a processor adapted to receive inertial measurement data from the at least one inertial sensor and navigation aid data from the at least one navigation aid, the processor further adapted to implement a filter algorithm having a state transition matrix that calculates an update to a state vector based on a state vector for a previous instance in time; and
wherein the processor is further adapted to selectively calculate one or more elements of the state transition matrix using the inertial measurement data or the navigation aid data based on a known error characteristic of the at least one inertial sensor or the at least one navigation aid.
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Abstract
Systems and methods for improved state estimates using filter algorithms are provided. In one embodiment, a method for navigating a vehicle comprises executing a filter algorithm having a state transition matrix that calculates an update to a state vector based on a state vector for a previous instance in time; receiving inertial measurement data from at least one inertial sensor; receiving data from at least one navigation aid; monitoring for the existence of one or more conditions based on a known error characteristic of the at least one inertial sensor; when the one or more conditions exist, calculating at least one element of the one or more elements of the state transition matrix based on the data from the at least one navigation aid; and when the one or more conditions do not exist, calculating the one or more elements of the state transition matrix based on inertial measurement data.
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Citations
20 Claims
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1. A navigation system for a vehicle, the system comprising:
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at least one inertial sensor; at least one navigation aid; a processor adapted to receive inertial measurement data from the at least one inertial sensor and navigation aid data from the at least one navigation aid, the processor further adapted to implement a filter algorithm having a state transition matrix that calculates an update to a state vector based on a state vector for a previous instance in time; and wherein the processor is further adapted to selectively calculate one or more elements of the state transition matrix using the inertial measurement data or the navigation aid data based on a known error characteristic of the at least one inertial sensor or the at least one navigation aid. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for navigating a vehicle, the method comprising:
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executing a filter algorithm having a state transition matrix that calculates an update to a state vector based on a state vector for a previous instance in time; receiving inertial measurement data from at least one inertial sensor; receiving data from at least one navigation aid; monitoring for the existence of one or more conditions based on a known error characteristic of the at least one inertial sensor or the at least one navigation aid; when the one or more conditions exist, calculating at least one element of the one or more elements of the state transition matrix based on the data from the at least one navigation aid; and when the one or more conditions do not exist, calculating the one or more elements of the state transition matrix based on the inertial measurement data. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A computer readable medium having computer-executable instructions for performing a navigation method using a filter algorithm having a state transition matrix, method comprising:
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calculating an update to a state vector based on a product of a state vector for a previous instance in time multiplied by the state transition matrix; receiving inertial measurement data from at least one inertial sensor; receiving data from at least one navigation aid; and selectively calculating one or more elements of the state transition matrix using one of the inertial measurement data or the data from the at least one navigation aid based on a known error characteristic of the at least one inertial sensor or the at least one navigation aid. - View Dependent Claims (17, 18, 19, 20)
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Specification