METHODS AND APPARATUS FOR DETECTING, MEASURING, AND MITIGATING EFFECTS OF MOVING AN INERTIAL NAVIGATION DEVICE'S CRADLE
First Claim
1. A method for mitigating an inertial navigation error, comprising:
- receiving inertial sensor data;
processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC);
processing the inertial sensor data with a second navigation algorithm lacking a NHC,wherein the first and second navigation algorithms are executed simultaneously;
detecting a cradle rotation with the second navigation algorithm; and
discarding a first navigation algorithm result produced from the inertial sensor data generated during the cradle rotation.
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Abstract
Methods and apparatus for detecting, measuring, and/or mitigating effects of moving an inertial navigation device'"'"'s cradle are provided. In an example, provided are methods and apparatus to mitigate cradle rotation-induced inertial navigation errors. In an example, a method for mitigating an inertial navigation error includes receiving inertial sensor data and processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC). A second navigation algorithm, lacking a NHC, also processes the inertial sensor data simultaneously with the first algorithm. A cradle rotation is detected by the second navigation algorithm. A first navigation algorithm result, produced from the inertial sensor data generated during the cradle rotation, is discarded. The first algorithm can be computationally realigned, based on a second navigation algorithm result produced from the inertial sensor data generated during the cradle rotation.
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Citations
29 Claims
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1. A method for mitigating an inertial navigation error, comprising:
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receiving inertial sensor data; processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC); processing the inertial sensor data with a second navigation algorithm lacking a NHC, wherein the first and second navigation algorithms are executed simultaneously; detecting a cradle rotation with the second navigation algorithm; and discarding a first navigation algorithm result produced from the inertial sensor data generated during the cradle rotation. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus configured to mitigate an inertial navigation error, comprising:
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means for receiving inertial sensor data; means for processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC); means for processing the inertial sensor data with a second navigation algorithm lacking a NHC, wherein the first and second navigation algorithms are executed simultaneously; means for detecting a cradle rotation with the second navigation algorithm; and means for discarding a first navigation algorithm result produced from the inertial sensor data generated during the cradle rotation. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. An apparatus configured to mitigate an inertial navigation error, comprising a processor configured to:
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receive inertial sensor data; process the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC); process the inertial sensor data with a second navigation algorithm lacking a NHC, wherein the first and second navigation algorithms are executed simultaneously; detect a cradle rotation with the second navigation algorithm; and discard a first navigation algorithm result produced from the inertial sensor data generated during the cradle rotation. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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23. A non-transitory computer-readable medium, comprising instructions stored thereon that, if executed by a processor, cause the processor to execute a method comprising:
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receiving inertial sensor data; processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC); processing the inertial sensor data with a second navigation algorithm lacking a NHC, wherein the first and second navigation algorithms are executed simultaneously; detecting a cradle rotation with the second navigation algorithm; and discarding a first navigation algorithm result produced from the inertial sensor data generated during the cradle rotation. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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Specification