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APPARATUS FOR INTEGRATING MULTIPLE RATE SYSTEMS AND METHOD OF OPERATING THE SAME

  • US 20140149034A1
  • Filed: 07/16/2013
  • Published: 05/29/2014
  • Est. Priority Date: 11/26/2012
  • Status: Abandoned Application
First Claim
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1. A method of operating an apparatus for integrating multiple rate systems, comprising:

  • calculating navigation information through an inertial measurement unit, and setting mean values and variances of initial state variables of the navigation information;

    calculating sigma points using the mean values and the variances;

    time-propagating the mean values until measurement information is input through a Global Positioning System (GPS);

    when the measurement information is input, time-propagating the sigma points at intervals of a frequency of the measurement information;

    calculating variances using the time-propagated sigma points; and

    updating the navigation information using the time-propagated mean values, the calculated variances, and the measurement information.

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