MOVING PLATFORM INS RANGE CORRECTOR (MPIRC)

• US 20130211713A1
• Filed: 06/27/2011
• Published: 08/15/2013
• Est. Priority Date: 06/25/2010
• Status: Active Grant

• Current Assignee: Trusted Positioning Inc. (TDK Corporation)
• Original Assignee: Trusted Positioning Inc. (TDK Corporation)
• Inventors: Georgy, Jacques, Syed, Zainab, Goodall, Chris, El-Sheimy, Naser, Noureldin, Aboelmagd
• Granted Patent: US 9,423,509 B2
• Time in Patent Office: Days
• US Class Current: 701/468
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: H04B 10/00 Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication

Abstract

A moving platform INS range corrector (“MPIRC”) module and its method of operation are disclosed for providing navigation and positioning information. The module comprises: means, such as a receiver, for receiving a first set of absolute navigational information from an external source (such as satellites in case of GNSS); an inertial sensor unit for generating a second set of navigational information at the module; and a transceiver, for receiving and/or transmitting signals and estimating distance measurement from a known position and receiving position coordinates. The navigational information is used by a processor programmed with a core algorithm, to produce a navigation solution (which comprises position, velocity and attitude). The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of distance and position coordinate measurement from a known position.

Claims

1. A method for combining different forms of navigational information, or a subset thereof, for producing a navigation solution of a first module, wherein the first module is operative to combine the navigational information and enabled to communicate to at least one second module operative to combine different forms of navigational information or a subset thereof, the method comprising:

a) obtaining readings from a sensor assembly of self-contained sensors within the first module, wherein the readings relate to navigational information of the first module, and producing an output indicative thereof;

b) obtaining absolute navigational information of the module from external sources, and producing an output indicative thereof;

c) receiving and/or transmitting signals used to estimate ranging information between the first module and the at least one second module, receiving and/or transmitting navigation state, and producing aiding signals indicative thereof; and

d) providing at least one processor for processing the sensor assembly readings, the absolute navigational information, and the aiding signals to produce a navigation solution relating to the first module, wherein the at least one processor is capable of utilizing the aiding signals to enhance the navigation solution when the absolute navigation information is limited, degraded or denied.

2. The method of claim 1, wherein the sensor assembly comprises accelerometer means for measuring module specific forces and obtain accelerations and gyroscope means for measuring turning rates.

3. The method of claim 2, wherein the sensor assembly comprises at least two accelerometers and one gyroscope.

4. The method of claim 2, wherein the sensor assembly comprises three accelerometers and three gyroscopes.

5. The method of claim 1, wherein the absolute navigational information is obtained by a receiver.

6. The method of claim 5, wherein the receiver is a GNSS receiver.

7. The method of claim 6, wherein the GNSS receiver is a Global Positioning System receiver.

8. The method of claim 1, wherein the first module is positioned on a first platform, and the at least one second module is positioned on at least one second platform.

9. The method of claim 1, wherein the transceiver is a wireless or wired transceiver.

10. The method of claim 9, wherein the wireless transceiver uses signals appropriate to the transmission medium.

11. The method of claim 1, wherein the at least one processor is programmed to use a state estimation technique.

12. The method of claim 11, wherein the state estimation technique is linear or non-linear.

13. The method of claim 12, wherein the state estimation technique is an Extended Kalman Filter.

14. The method of claim 1, wherein the navigation solution is determined via a loosely or a tightly coupled integration scheme.

15. The method of claim 8, wherein the first platform is physically linked to at least one second platform.

16. The method of claim 15, wherein the physical link between the first platform and the at least one second platform enables the use of kinetic constraints that can be used to enhance the navigation solution of the first module.

17. The method of claim 15, wherein the physical link is a rigid link.

18. The method of claim 15, wherein the physical link is a non-rigid or flexible link.

19. A first module for producing a navigation solution, operative to combine different forms of navigational information, or a subset thereof, and enabled to communicate with at least one second module operative to combine different forms navigational information, or a subset thereof, the first module comprising:

a) an assembly of self-contained sensors, within the first module, capable of obtaining readings relating to the navigational information of the first module, and producing an output indicative thereof;

b) means for receiving absolute navigational information of the first module from external sources, and producing an output indicative thereof;

c) a transceiver for receiving and/or transmitting signals used to estimate ranging information between the first module and the at least one second module, receiving and/or transmitting navigation state, and for producing aiding signals indicative thereof; and

d) at least one processor coupled to receive the sensor assembly readings, the absolute navigational information and the aiding information to produce a navigation solution relating to the first module,

wherein the at least one processor is capable of utilizing the aiding information to enhance the navigation solution of the first module when the absolute navigational information is limited, degraded or denied.

20. The first module of claim 19, wherein the sensor assembly comprises accelerometer means for measuring module specific forces and obtain accelerations and gyroscope means for measuring turning rates.

21. The first module of claim 20, wherein the sensor assembly comprises at least two accelerometers and one gyroscope.

22. The first module of claim 20, wherein the sensor assembly comprises three accelerometers and three gyroscopes.

23. The first module of claim 19, wherein the absolute navigational information is obtained by a receiver.

24. The first module of claim 23, wherein the receiver is a GNSS receiver.

25. The first module of claim 24, wherein the GNSS receiver is a Global Positioning System receiver.

26. The first module in claim 19, wherein the first module is positioned on a first platform and the at least one second module is positioned on at least one second platform.

27. The first module of claim 19, wherein the transceiver is a wireless or wired transceiver.

28. The first module of claim 27, wherein the wireless transceiver uses signals appropriate to the transmission medium.

29. The first module of claim 19, wherein the at least one processor is programmed to use a state estimation technique.

30. The first module of claim 29, wherein the state estimation technique is linear or non-linear.

31. The first module of claim 30, wherein the state estimation technique is an Extended Kalman Filter.

32. The first module of claim 19, wherein the navigation solution is determined via a loosely or a tightly coupled integration scheme.

33. The first module in claim 26, wherein the first platform is physically linked to at least one second platform.

34. The first module in claim 33, wherein the physical link between the first platform and the at least one second platform enables the use of kinetic constraints that can be used to enhance the navigation solution of the first module.

35. The first module in claim 33, wherein the physical link is a rigid link.

36. The first module in claim 33, wherein the physical link is a non-rigid or flexible link.