MOBILE TERMINAL HAVING A HYBRID NAVIGATION SYSTEM AND METHOD FOR DETERMINING A LOCATION THEREOF

• US 20100109949A1
• Filed: 04/09/2009
• Published: 05/06/2010
• Est. Priority Date: 04/11/2008
• Status: Abandoned Application

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Lee, Jung-Hwan, Pribytkov, Yury Nikolaavich, Fazal, Mohammad Razag, Savinkov, Andrew Yurievich, Smirnov, Andrey Dmitrievich, Tandara, Vladimir, GARMONOV, Alexander Vasilievich
• Application Number:
  US12/421,283
• Publication Number:
  US 20100109949A1
• Time in Patent Office: Days
• US Class Current: 701/216
• 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
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

A mobile terminal having a hybrid navigation system and a method for determining a location thereof. A satellite navigation system receiver receives satellite data from a satellite. An inertial navigation system measuring device measures inertial data of the mobile terminal. A computing device receives the satellite data from the satellite navigation system receiver and the inertial data from the inertial navigation system measuring device, estimates a location of the mobile terminal using the inertial data, computes a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determines the location of the mobile terminal using the state vector. The computing device uses a state vector correlation error matrix computed in a previous step when computing a state vector correlation error matrix in a current step.

Claims

1. A mobile terminal having a hybrid navigation system, comprising:

a satellite navigation system receiver for receiving satellite data from a satellite;

an inertial navigation system measuring device for measuring inertial navigation data of the mobile terminal; and

a computing device for receiving the satellite data from the satellite navigation system receiver and the inertial navigation data from the inertial navigation system measuring device, estimating a location of the mobile terminal using the inertial navigation data, computing a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determining the location of the mobile terminal using the state vector,

wherein the computing device uses a previously computed state vector correlation error matrix computed in when computing a state vector correlation error matrix in a current step, each element of the previously computed state vector correlation error matrix is compared to a threshold value, and the permitted number of elements exceeding the threshold value is set to at least 1.

2. The mobile terminal of claim 1, wherein the satellite data includes information about a location and velocity of the satellite and the inertial navigation data includes information about acceleration of the mobile terminal.

3. The mobile terminal of claim 1, wherein when the state vector is computed, the computing device uses an approximation calculation formula

(W+H·

P·

H^T)<sup>−

1</sup>≈

1/W(1−

H·

P·

H^T/W),

where W is a satellite measurement correlation error matrix related to the satellite data, H is a matrix related to differentiation of the satellite data for elements of the state vector, and P is the state vector correlation error matrix.

4. The mobile terminal of claim 1, wherein the computing device converts a coordinate system of the satellite data and the inertial data into a coordinate system of a region where the mobile terminal is located, and uses the converted satellite data and the converted inertial data when computing the state vector.

5. A mobile terminal having a hybrid navigation system, comprising:

a satellite navigation system receiver for receiving satellite data from a satellite;

an inertial navigation system measuring device for measuring inertial navigation data of the mobile terminal; and

a computing device for receiving the satellite data from the satellite navigation system receiver and the inertial navigation data from the inertial navigation system measuring device, estimating a location of the mobile terminal using the inertial navigation data, computing a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determining the location of the mobile terminal using the state vector,

wherein the computing device converts a coordinate system of the satellite data and the inertial data into a coordinate system of a region where the mobile terminal is located, uses the converted satellite data and the converted inertial data when computing the state vector, and a rotation matrix to be used when converting the inertial data is corrected using the state vector.

6. The mobile terminal of claim 5, wherein the rotation matrix is generated using information about an angle of the mobile terminal for each of orthogonal axes X, Y and Z included in the inertial navigation data.

7. The mobile terminal of claim 5, wherein the computing device sets a time interval and periodically corrects the rotation matrix at the time interval.

8. The mobile terminal of claim 5, wherein the satellite data includes information about a location and velocity of the satellite and the inertial navigation data includes information about acceleration of the mobile terminal.

9. A method for determining a location of a mobile terminal using satellite data from a satellite and inertial navigation data of the mobile terminal, comprising:

converting a coordinate system of the satellite data and the inertial navigation data into a coordinate system of a region where the mobile terminal is located;

estimating the location of the mobile terminal using the converted inertial navigation data; and

computing a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determining the location of the mobile terminal using the state vector,

wherein a previously computed state vector correlation error matrix is used when computing a state vector correlation error matrix in a current step, each element of the previously computed state vector correlation error matrix is compared to a threshold value, and the permitted number of elements exceeding the threshold value is set to at least 1.

10. A computer-readable recording medium for recording a program to execute the steps of:

converting a coordinate system of satellite data and inertial navigation data into a coordinate system of a region where a mobile terminal is located;

estimating the location of the mobile terminal using the converted inertial navigation data; and

computing a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determining the location of the mobile terminal using the state vector,

wherein a previously computed state vector correlation error matrix is used when computing a state vector correlation error matrix in a current step, each element of the previously computed state vector correlation error matrix is compared to a threshold value, and the permitted number of elements exceeding the threshold value is set to at least 1.

11. A method for determining a location of a mobile terminal using satellite data from a satellite and inertial navigation data of the mobile terminal, comprising:

converting a coordinate system of the satellite data and the inertial navigation data into a coordinate system of a region where the mobile terminal is located;

estimating the location of the mobile terminal using the converted inertial navigation data; and

computing a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determining the location of the mobile terminal using the state vector,

wherein a rotation matrix to be used when converting the inertial data is corrected using the state vector and the rotation matrix is generated using information about an angle of the mobile terminal for each of orthogonal axes X, Y and Z included in the inertial navigation data.

12. A computer-readable recording medium for recording a program to execute the steps of:

converting a coordinate system of satellite data and inertial navigation data into a coordinate system of a region where a mobile terminal is located;

estimating the location of the mobile terminal using the converted inertial navigation data; and

computing a state vector having location information obtained by correcting the estimated location using the satellite data and a state vector correlation error matrix having error information of the state vector, and determining the location of the mobile terminal using the state vector,

wherein a rotation matrix to be used when converting the inertial data is corrected using the state vector and the rotation matrix is generated using information about an angle of the mobile terminal for each of orthogonal axes X, Y and Z included in the inertial navigation data.