ESTIMATION OF N-DIMENSIONAL PARAMETERS WHILE SENSING FEWER THAN N DIMENSIONS
First Claim
1. A navigational system, the system comprising:
- at least one processor;
an inertial measurement unit (IMU) that provides an output to the at least one processor, the at least one processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter; and
at most two sensors that provide an output to the at least one processor, wherein the at least one processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the at least one processor when the trajectory measured by the IMU satisfies movement requirements, wherein “
n”
is greater than the number of the at most two sensors.
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Abstract
Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors.
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Citations
20 Claims
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1. A navigational system, the system comprising:
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at least one processor; an inertial measurement unit (IMU) that provides an output to the at least one processor, the at least one processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter; and at most two sensors that provide an output to the at least one processor, wherein the at least one processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the at least one processor when the trajectory measured by the IMU satisfies movement requirements, wherein “
n”
is greater than the number of the at most two sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for bounding motion errors, the method comprising:
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calculating a navigation solution for a platform based on measurements from an IMU; receiving a measurement from at most two sensors, wherein the at most two sensors are used to provide an estimated motion parameter in less than n dimensions; calculating an estimate of accumulated error for a motion parameter in n dimensions based on the estimated motion parameter when the trajectory of platform motion satisfies movement requirements; and correcting the motion parameter in n dimensions based on the estimate of accumulated error. - View Dependent Claims (11, 12, 13, 14)
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15. A system for tracking movement, the system comprising
at least one navigation system, wherein the at least one navigation system comprises: -
at least one processor; an inertial measurement unit (IMU) coupled to the at least one processor, the at least one processor providing a navigation solution for a platform based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional motion parameter; a sensor configured to measure a motion parameter in at most two dimensions, wherein the at least one processor is further configured to receive the motion parameter from the sensor and provide an estimate of the n-dimensional motion parameter for use in bounding the error of the n-dimensional motion parameter as calculated by the at least one processor, wherein the estimate is based on the motion parameter and n is greater than the dimensions measured by the sensor; and a transmitter configured to transmit the navigation solution; and a base station that receives navigation solutions from the at least one navigation system. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification