OPTIMAL COMBINATION OF SATELLITE NAVIGATION SYSTEM DATA AND INERTIAL DATA
First Claim
1. A navigation system, comprising:
- at least one processor;
a satellite navigation receiver operatively coupled to the processor and configured to receive a plurality of navigation signals from one or more navigation satellites;
an inertial measurement unit operatively coupled to the processor and configured to generate inertial measurement data;
an extended Kalman filter configured to receive the plurality of navigation signals and the inertial measurement data; and
a processor readable storage medium including instructions executable by the processor to combine the plurality of satellite signals with the inertial measurement data in the extended Kalman filter to generate a navigation solution;
wherein the plurality of navigation signals includes L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements.
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Abstract
A navigation system comprises at least one processor, a satellite navigation receiver operatively coupled to the processor and configured to receive a plurality of navigation signals from one or more navigation satellites, and an inertial measurement unit operatively coupled to the processor and configured to generate inertial measurement data. An extended Kalman filter is configured to receive the plurality of navigation signals and the inertial measurement data. A processor readable storage medium includes instructions executable by the processor to combine the plurality of satellite signals with the inertial measurement data in the extended Kalman filter to generate a navigation solution. The plurality of navigation signals includes L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements.
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Citations
20 Claims
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1. A navigation system, comprising:
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at least one processor; a satellite navigation receiver operatively coupled to the processor and configured to receive a plurality of navigation signals from one or more navigation satellites; an inertial measurement unit operatively coupled to the processor and configured to generate inertial measurement data; an extended Kalman filter configured to receive the plurality of navigation signals and the inertial measurement data; and a processor readable storage medium including instructions executable by the processor to combine the plurality of satellite signals with the inertial measurement data in the extended Kalman filter to generate a navigation solution; wherein the plurality of navigation signals includes L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A navigation method, comprising:
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receiving navigation satellite measurement data from one or more navigation satellites, the satellite measurement data including L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements; receiving inertial measurement data from one or more inertial sensors; processing the satellite measurement data with the inertial measurement data in an extended Kalman filter; and generating a navigation solution based on the processed satellite measurement data and inertial measurement data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer program product, comprising:
a non-transitory computer readable medium including instructions stored thereon executable by a processor to perform a navigation method comprising; receiving navigation satellite measurement data from one or more navigation satellites, the satellite measurement data including L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements; receiving inertial measurement data from one or more inertial sensors; processing the satellite measurement data with the inertial measurement data in an extended Kalman filter; and generating a navigation solution based on the processed satellite measurement data and inertial measurement data. - View Dependent Claims (20)
Specification