SYSTEM AND METHOD OF AUTO-CALIBRATION OF INERTIAL SENSORS
First Claim
1. A system comprising:
- at least one inertial sensor operable to provide inertial sensor data during a trip;
a processing unit coupled to the at least one inertial sensor, the processing unit operable to calculate navigation data based on the inertial sensor data and to estimate error in the inertial sensors, wherein the processing unit is further operable to adjust subsequent inertial sensor data received during the trip from the, at least one, inertial sensor to compensate for the estimated error; and
a memory coupled to the navigation unit and operable to store data between power cycles;
wherein the processing unit is further operable to calculate a current trip error estimate from a plurality of error estimates during the trip and to estimate a repeatability error component based on the current trip error estimate and previous trip error estimates stored in the memory;
wherein the repeatability error component is stored in the memory, the processing unit being further operable to update inertial sensor data during a subsequent trip based on the repeatability error component.
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Abstract
A system comprises at least one inertial sensor operable to provide inertial sensor data during a trip; a processing unit coupled to the at least one inertial sensor, the processing unit operable to calculate navigation data based on the inertial sensor data and to estimate error in the inertial sensor data, wherein the processing unit is further operable to adjust subsequent inertial sensor data received during the trip from the at least one inertial sensor in order to compensate for the estimated error; and a memory coupled to the navigation unit and operable to store data between power cycles; wherein the processing unit is further operable to calculate a current trip error estimate from a plurality of error estimates during the trip and to estimate a repeatability error component based on the current trip error estimate and previous trip error estimates stored in the memory; wherein the repeatability error component is stored in the memory, the processing unit being further operable to update inertial sensor data during a subsequent trip based on the repeatability error component
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Citations
20 Claims
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1. A system comprising:
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at least one inertial sensor operable to provide inertial sensor data during a trip; a processing unit coupled to the at least one inertial sensor, the processing unit operable to calculate navigation data based on the inertial sensor data and to estimate error in the inertial sensors, wherein the processing unit is further operable to adjust subsequent inertial sensor data received during the trip from the, at least one, inertial sensor to compensate for the estimated error; and a memory coupled to the navigation unit and operable to store data between power cycles; wherein the processing unit is further operable to calculate a current trip error estimate from a plurality of error estimates during the trip and to estimate a repeatability error component based on the current trip error estimate and previous trip error estimates stored in the memory; wherein the repeatability error component is stored in the memory, the processing unit being further operable to update inertial sensor data during a subsequent trip based on the repeatability error component. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of calibrating an inertial sensor, the method comprising:
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receiving inertial sensor data from the inertial sensor; calculating navigation data based on the received inertial sensor data; estimating error in the calculated navigation data; adjusting subsequent received inertial sensor data to compensate for estimated errors; calculating a trip error estimate from a plurality of error estimates during a trip; estimating a repeatability error component based on the current trip error estimate and previous trip error estimates; storing the repeatability error component in a memory; and adjusting inertial sensor data during a subsequent trip based, at least in part, on the repeatability error component. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A program product comprising program instructions embodied on a processor-readable medium for execution by a programmable processor, wherein the program instructions are operable to cause the programmable processor to:
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calculate navigation data based on inertial sensor data received from at least one inertial sensor; estimate error in the calculated navigation data based on navigation data received from an aiding source; adjust subsequent received inertial sensor data to compensate for estimated errors; calculate a trip error estimate from a plurality of error estimates during a trip; retrieve a plurality of previous trip error estimates from a memory device; estimate a repeatability error component based on the calculated trip error estimate and the plurality of previous trip error estimates; storing the repeatability error component in the memory device; and adjusting inertial sensor data during a subsequent trip based, at least in part, on the repeatability error component. - View Dependent Claims (18, 19, 20)
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Specification