ENHANCED INERTIAL SYSTEM PERFORMANCE
First Claim
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1. An inertial system, the system comprising:
- at least one inertial sensor;
a processing unit; and
a plurality of Kalman filters implemented in the processing unit, the plurality of Kalman filters receiving information from the at least one inertial sensor, wherein at most one of the plurality of Kalman filters has processed zero velocity updates on the last cycle.
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Abstract
An inertial system is provided. The system includes at least one inertial sensor, a processing unit and a plurality of Kalman filters implemented in the processing unit. The Kalman filters receive information from the at least one inertial sensor. At most one of the plurality of Kalman filters has processed zero velocity updates on the last cycle.
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Citations
20 Claims
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1. An inertial system, the system comprising:
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at least one inertial sensor; a processing unit; and a plurality of Kalman filters implemented in the processing unit, the plurality of Kalman filters receiving information from the at least one inertial sensor, wherein at most one of the plurality of Kalman filters has processed zero velocity updates on the last cycle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of generating data in an inertial system, the method comprising:
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processing multiple Kalman filters at a processing unit; determining when motion was occurring; and selecting one of the multiple Kalman filters that did not process zero velocity updates when motion was occurring. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A vehicle, the vehicle comprising:
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an inertial system that generates position information, the inertial system comprising; at least one inertial sensor, a processing unit, and a plurality of Kalman filters implemented in the processing unit, that receive information from the at least one inertial sensor, wherein at most one of the plurality of Kalman filters has processed zero velocity updates on the last cycle; a guidance system that communicates with the inertial system and determines a heading for the vehicle; and a position controller that communicates with the guidance system and physically moves the vehicle in accordance with the heading determined by the guidance system. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification