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INERTIAL SENSOR AIDED HEADING AND POSITIONING FOR GNSS VEHICLE NAVIGATION

  • US 20120173195A1
  • Filed: 12/01/2011
  • Published: 07/05/2012
  • Est. Priority Date: 12/03/2010
  • Status: Abandoned Application
First Claim
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1. A method in a mobile device for generating a gyroscope bias, the method comprising:

  • receiving at least two GNSS headings (HGNSS) from a GNSS receiver;

    computing an GNSS heading difference (Δ

    HGNSS) based on the GNSS headings (HGNSS);

    converting the GNSS heading difference (Δ

    HGNSS) to a negative GNSS heading rate (−

    {dot over (H)}GNSS) by scaling by a GNSS time difference (−

    Δ

    TGNSS);

    receiving gyroscope measurements ({right arrow over (ω

    )}) from a gyroscope;

    computing the virtual gyroscope heading rate ({dot over (H)}Gyro,CORR) from the gyroscope measurements ({right arrow over (ω

    )});

    forming a corrected gyroscope heading rate ({dot over (H)}Gyro,CORR) from the virtual gyroscope heading rate ({dot over (H)}Gyro);

    averaging the corrected gyroscope heading rate ({dot over (H)}Gyro,CORR) to form the virtual gyroscope heading rate ({dot over ( HGyro,CORR), andsumming the negative GNSS heading rate (−

    {dot over (H)}GNSS) and the virtual gyroscope heading rate ({dot over ( HGyro) to form the gyroscope bias.

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