METHOD AND APPARATUS FOR REAL-TIME POSITIONING AND NAVIGATION OF A MOVING PLATFORM

• US 20150204983A1
• Filed: 06/08/2012
• Published: 07/23/2015
• Est. Priority Date: 06/09/2011
• Status: Active Grant

• Current Assignee: Trusted Positioning Inc. (TDK Corporation)
• Original Assignee: Trusted Positioning Inc. (TDK Corporation)
• Inventors: Georgy, Jacques, Goodall, Christopher, Atia, Mohamed, Noureldin, Aboelmagd, Abdelfatah, Walid, Shen, Zhi, Syed, Husain
• Granted Patent: US 10,082,583 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/393 Trajectory determination or predictive tracking, e.g. Kalman filtering
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A navigation module for providing a real-time INS/GNSS navigation solution for a moving object comprising a receiver for receiving absolute navigational information from an external source and an assembly of self-container sensors for generating navigational information. The module also contains a processor coupled to receive the output information from the receiver and sensor assembly, and integrate the output information in real-time to produce an overall navigation solution. The overall navigation solution will contain a main navigation solution task, and at least one other task, where the other task is used to enhance the overall navigation solution.

Claims

1. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising:

a receiver for receiving absolute navigational information about the object from an external source, and producing an output indicative thereof,

an assembly of self-contained sensors capable of obtaining readings relating to navigational information about the object, and producing an output indicative thereof, and

at least one processor, coupled to receive the absolute navigational information output and the readings from the sensor assembly, and operative to provide the overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least one other task, wherein the at least one other task is used to enhance the overall navigation solution.

2. The navigation module in claim 1, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

3. The navigation module in claim 1, wherein the moving object is tethered or non-tethered to a moving platform.

4. The navigation module in claim 3, wherein the moving platform is a vehicle, a vessel or a person.

5. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising:

a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof and a corresponding timing pulse signal,

an assembly of self-contained sensors capable of obtaining readings relating to navigational information about the object, and producing readings indicative thereof,

at least one processor, coupled to receive

i. the pulse signal, having a pulse indicating when the absolute navigation output should have been received,

ii. the absolute navigational output, which may be delayed compared to the pulse, and

iii. the readings from the sensor assembly,

and operative to provide the overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real time navigation output, and

at least two other tasks, wherein the at least two other tasks comprise

a buffering task that buffers the state of the main navigation solution task when the pulse is received and the readings from the sensor assembly, wherein the buffering of the readings from the sensor assembly begins when the pulse is received, and

a GNSS update task, wherein the GNSS update task utilizes the buffered sensor readings until the GNSS update task synchronizes in time with the main navigation solution task, and merges therewith to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

6. The navigation module in claim 5, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

7. The navigation module in claim 5, wherein the moving object is tethered or non-tethered to a moving platform.

8. The navigation module in claim 7, wherein the moving platform is a vehicle, a vessel or a person.

9. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising:

a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof,

an assembly of self-contained sensors capable of obtaining readings relating to navigational information about the object, and producing readings indicative thereof,

at least one processor, coupled to receive

i. the absolute navigational information output,

ii. the readings from the sensor assembly,

and operative to provide the overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least one other task, wherein the at least one other task comprises a higher rate attitude task capable of calculating attitude angles about the object at a higher rate than the main navigation solution task, thereby providing an enhanced overall navigation solution.

10. The navigation module in claim 9, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

11. The navigation module in claim 9, wherein the moving object is tethered or non-tethered to a moving platform.

12. The navigation module in claim 11, wherein the moving platform is a vehicle, a vessel or a person.

13. The navigation module in claim 9, wherein the readings from the sensor assembly include readings from at least one gyroscope.

14. The navigation module in claim 13, wherein the readings from the sensor assembly include readings from three gyroscopes.

15. The navigation solution of claim 13, wherein the processor is programmed to utilize the gyroscope readings to calculate the higher rate attitude.

16. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising:

a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof,

an assembly of self-contained sensors capable of obtaining readings relating to navigational information about the object, and producing readings indicative thereof,

at least one processor, coupled to receive

i. the absolute navigational information output,

ii. the readings from the sensor assembly,

and operative to provide the overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least one other task, wherein the at least one other task comprises a lower rate navigation solution task that is more computationally complex and more accurate than the main navigation solution task, and used to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

17. The navigation module in claim 16, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

18. The navigation module in claim 16, wherein the moving object is tethered or non-tethered to a moving platform.

19. The navigation module in claim 18, wherein the moving platform is a vehicle, a vessel or a person.

20. The navigation module in claim 16, wherein the main navigation solution task runs a Kalman filter based state estimation technique.

21. The navigation module in claim 16, wherein the lower navigation solution task runs a Particle filter based state estimation technique.

26. The navigation module of claim 16, wherein the multiple tasks further comprises one set of tasks from the following:

a. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task, thereby providing an enhanced overall navigation solution,

b. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the lower rate navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the lower rate navigation solution task, thereby enhancing the main navigation solution task, and thereby providing an enhanced overall navigation solution, or

c. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly, the output of the main navigation solution task, and the output of the lower rate navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task,

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the lower rate navigation solution task, thereby further enhancing the main navigation solution task,

wherein the combined enhancements to the main navigation solution task provide an enhanced overall navigation solution.

27. The navigation module in claim 26, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

28. The navigation module in claim 26, wherein the moving object is tethered or non-tethered to a moving platform.

29. The navigation module in claim 28, wherein the moving platform is a vehicle, a vessel or a person.

34. The navigation module of claim 16, wherein the main navigation solution task runs a computationally efficient state estimation technique in a first instance, and the lower rate navigation solution task runs a computationally complex state estimation technique in a first instance, and wherein the multiple tasks further comprise one set of tasks from the following:

a. a buffering task, wherein the buffering task buffers, the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the computationally efficient state estimation technique in a second instance, then supplants the tuned parameters into the computationally efficient state estimation technique in the first instance to enhance the main navigation solution task, thereby enhancing the overall navigation solution,

b. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the lower rate navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the computationally complex state estimation technique in a second instance, then supplants the tuned parameters into the computationally complex state estimation technique in the first instance to enhance the main navigation solution task, thereby enhancing the overall navigation solution, or

c. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly, the output of the main navigation solution task, and the output of the lower rate navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the computationally efficient state estimation technique in a second instance, then supplants the tuned parameters into the computationally efficient state estimation technique in the first instance to enhance the main navigation solution task,

a tuning routine task that uses the buffered information to tune parameters of the computationally complex state estimation technique in a second instance, then supplants the tuned parameters into the computationally complex state estimation technique in the first instance to enhance the main navigation solution task,

wherein the combined enhancements to the main navigation solution task provide an enhanced overall navigation solution.

35. The navigation module in claim 34, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

36. The navigation module in claim 34, wherein the moving object is tethered or non-tethered to a moving platform.

37. The navigation module in claim 36, wherein the moving platform is a vehicle, a vessel or a person.

38. The navigation module in anyone or any combination of claims 5, 9, 16, 22, 26, 30, or 34 to provide an enhanced overall navigation solution.

39. The navigation module in anyone or any combination of claims 5, 9, 16, 22, 26, 30, or 34, wherein the module has a means to obtain speed readings about the moving object using wired or wireless communication.

22. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising:

a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof,

an assembly of self-contained sensors capable of obtaining readings relating to navigational information about the object, and producing readings indicative thereof,

at least one processor, coupled to receive

i. the absolute navigational information output,

ii. the readings from the sensor assembly,

and operative to provide the overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least two other tasks, wherein the at least two other tasks comprise

a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task, thereby providing an enhanced overall navigation solution.

23. The navigation module in claim 22, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

24. The navigation module in claim 22, wherein the moving object is tethered or non-tethered to a moving platform.

25. The navigation module in claim 24, wherein the moving platform is a vehicle, a vessel or a person.

30. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising:

a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof,

an assembly of self-contained sensors capable of obtaining readings relating to navigational information about the object, and producing readings indicative thereof,

at least one processor, coupled to receive

i. the absolute navigational information output,

ii. the readings from the sensor assembly,

and operative to provide the overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task runs a state estimation technique in a first instance, and the main navigation solution output is the real-time navigation output, and

at least two other tasks, wherein the at least two other tasks comprise

a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and a tuning routine task that uses the buffered information to tune parameters of the state estimation technique in a second instance, and then supplants the tuned parameters into the state estimation technique in the first instance to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

31. The navigation module in claim 30, wherein the receiver for receiving absolute navigational information is a GNSS receiver.

32. The navigation module in claim 30, wherein the moving object is tethered or non-tethered to a moving platform.

33. The navigation module in claim 32, wherein the moving platform is a vehicle, a vessel or a person.

40. A method for providing an overall navigation solution that provides a real-time navigation output about a moving object, the method comprising:

Receiving absolute navigational information about the object from an external source and producing output readings indicative thereof,

Obtaining readings relating to navigational information about the object from an assembly of self-contained sensors and producing an output indicative thereof, and

Processing the absolute navigational information and the readings from the sensor assembly to provide an overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least one other task, wherein the at least one other task is used to enhance the overall navigation solution.

40-1. A method for providing an overall navigation solution that provides a real-time navigation output about a moving object, the method comprising:

Receiving absolute navigational information about the object from an external source and producing a navigational output indicative thereof and a corresponding timing pulse signal, wherein the absolute navigational information is delayed compared to the pulse signal, and the pulse signal comprises a pulse indicating when the absolute navigational output should have been provided,

Obtaining readings relating to navigational information about the object from an assembly of self-contained sensors and producing an output indicative thereof, and

Processing the pulse signal, the absolute navigational information and the readings from the sensor assembly to provide an overall navigation solution consisting of multiple tasks comprising;

a main navigation solution task, wherein the main navigation solution task output is the real time navigation output, and

at least two other task, wherein the at least two other tasks comprise

a buffering task that buffers the state of the main navigation solution task when the pulse is received and the readings from the sensor assembly, wherein the buffering of the readings from the sensor assembly begins when the pulse is received, and

a GNSS update task, wherein the GNSS update task utilizes the buffered sensor readings until the GNSS update task synchronizes in time with the main navigation solution task, and merges therewith to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

42. A method for providing an overall navigation solution that provides a real-time navigation output about a moving object, the method comprising:

Receiving absolute navigational information about the object from an external source and producing an output indicative thereof,

Obtaining readings relating to navigational information about the object from an assembly of self-contained sensors and producing an output indicative thereof, and

Processing the absolute navigational information and the readings from the sensor assembly to provide an overall navigation solution consisting of multiple tasks, comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least one other task, wherein the at least one other task comprises a higher rate attitude task to calculate attitude angles about the object at a higher rate than the main navigation solution task, thereby providing an enhanced overall navigation solution.

43. A method for providing an overall navigation solution that provides a real-time navigation output about a moving object, the method comprising:

Receiving absolute navigational information about the object from an external source and producing an output indicative thereof,

Obtaining readings relating to navigational information about the object from an assembly of self-contained sensors and producing an output indicative thereof, and

Processing the absolute navigational information and sensor assembly readings to provide an overall navigation solution consisting of multiple tasks, comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least one other task, wherein the at least one other task comprises a lower rate navigation solution that is more computationally complex and more accurate than the main navigation solution task, and used to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

45. The method of claim 43, wherein the multiple tasks further comprise one set of tasks from the following:

a. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task, thereby providing an enhanced overall navigation solution,

b. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the lower rate navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the lower rate navigation solution task, thereby enhancing the main navigation solution task, and thereby providing an enhanced overall navigation solution or

c. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly, the output of the main navigation solution task, and the output of the lower rate navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task,

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the lower rate navigation solution task, thereby further enhancing the main navigation solution task,

wherein the combined enhancements to the main navigation solution task provide an enhanced overall navigation solution.

47. The method of claim 43, wherein the main navigation solution task runs a computationally efficient state estimation technique in a first instance, and the lower rate navigation solution task runs a computationally complex state estimation technique in a first instance,

and wherein the multiple tasks further comprise one set of tasks from the following:

a. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the computationally efficient state estimation technique in a second instance, then supplants the tuned parameters into the computationally efficient state estimation technique in the first instance to enhance the main navigation solution, thereby enhancing the overall navigation solution,

b. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the lower rate navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the computationally complex state estimation technique in a second instance, then supplants the tuned parameters into the computationally complex state estimation technique in the first instance to enhance the main navigation solution task, thereby enhancing the overall navigation solution, or

c. a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly, the output of the main navigation solution task, and the output of the lower rate navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the computationally efficient state estimation technique in a second instance, then supplants the tuned parameters into the computationally efficient state estimation technique in the first instance to enhance the main navigation solution task,

a tuning routine task that uses the buffered information to tune parameters of the computationally complex state estimation technique in a second instance, then supplants the tuned parameters into the computationally complex state estimation technique in the first instance to enhance the main navigation solution task,

wherein the combined enhancements to the main navigation solution task provide an enhanced overall navigation solution.

44. A method for providing an overall navigation solution that provides a real-time navigation output about a moving object, the method comprising:

Receiving absolute navigational information about the object from an external source and producing an output indicative thereof,

Obtaining readings relating to navigational information about the object from an assembly of self-contained sensors and producing an output indicative thereof, and

Processing the absolute navigational information and the readings from the sensor assembly to provide the overall navigation solution consisting of multiple tasks, comprising;

a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and

at least two other tasks, wherein the at least two other tasks comprise

a buffering task, wherein the buffering task buffers the absolute navigation information, the readings from the sensor assembly and the output of the main navigation solution task, and

a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task, thereby providing an enhanced overall navigation solution.

46. A method for providing an overall navigation solution that provides a real-time navigation output about a moving object, the method comprising:

Receiving absolute navigational information about the object from an external source and producing an output indicative thereof,

Obtaining readings relating to navigational information about the object from an assembly of self-contained sensors and producing an output indicative thereof, and

Processing the absolute navigational information and the readings from the sensor assembly to provide the overall navigation solution consisting of multiple tasks, comprising;

a main navigation solution task, wherein the main navigation task uses a state estimation technique in a first instance, and provides the real-time navigation output, and

at least one other task, wherein the other task comprises at least

a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and

a tuning routine task that uses the buffered information to tune parameters of the state estimation technique in a second instance, then supplants the tuned parameters into the state estimation technique in the first instance to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

48-49. -49. (canceled)