METHODS AND SYSTEMS FOR IMPLEMENTING AN ITERATED EXTENDED KALMAN FILTER WITHIN A NAVIGATION SYSTEM

• US 20100036613A1
• Filed: 10/07/2009
• Published: 02/11/2010
• Est. Priority Date: 03/08/2006
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Leftin, Lawrence J., Zeng, Yueping, Briske, Richard W., Anderson, John F., Kirkland, Jeffrey W.
• Granted Patent: US 7,873,472 B2
• Time in Patent Office: Days
• US Class Current: 701/220
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Abstract

Methods and systems for implementing an iterated extended Kalman filter within a navigation system are provided. In one embodiment, a Kalman filter programmed with time updating error states and measurement updating error states relating to received data sets is provided. The said Kalman filter configured to: iterate both the time updating error states and the measurement updating error states based on a first criteria; and iterate only the measurement updating error states based on a second criteria.

Claims

1. A Kalman filter programmed with time updating error states and measurement updating error states relating to received data sets, said Kalman filter configured to:

iterate both the time updating error states and the measurement updating error states based on a first criteria; and

iterate only the measurement updating error states based on a second criteria.

2. A Kalman filter according to claim 1 wherein the first criteria comprises data not indicative of a changing position for the vehicle and the second criteria comprises data indicative of a changing position for the vehicle.

3. A Kalman filter according to claim 1 the first criteria comprises data indicative of a gyroscope compass alignment mode.