FILTERING GNSS-AIDED NAVIGATION DATA TO HELP COMBINE SENSOR AND A PRIORI DATA
First Claim
1. A method for improving a navigation solution, the method comprising:
- identifying an un-smoothed navigation solution inclusive of a navigation system reset, wherein a value is associated with the navigation system reset;
subtracting the value associated with the navigation system reset from the un-smoothed navigation solution to generate an initial navigation solution; and
incrementally adding the value associated with the navigation system reset to the initial navigation solution at a configurable rate to generate a smoothed navigation solution.
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Accused Products
Abstract
Systems and methods for filtering GNSS-Aided navigation data for helping combine sensor data and a priori data are provided. In at least one embodiment, the method comprises identifying an un-smoothed navigation solution inclusive of a navigation system reset, wherein a value is associated with the navigation system reset. The value associated with the navigation system reset is then subtracted from the un-smoothed navigation solution to generate an initial navigation solution. Further, the value associated with the navigation system reset is incrementally added to the initial navigation solution at a configurable rate to generate a smoothed navigation solution.
7 Citations
20 Claims
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1. A method for improving a navigation solution, the method comprising:
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identifying an un-smoothed navigation solution inclusive of a navigation system reset, wherein a value is associated with the navigation system reset; subtracting the value associated with the navigation system reset from the un-smoothed navigation solution to generate an initial navigation solution; and incrementally adding the value associated with the navigation system reset to the initial navigation solution at a configurable rate to generate a smoothed navigation solution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A navigation system comprising:
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at least one inertial measurement unit configured to provide inertial measurements; at least one aiding device configured to generate aiding device measurement data; a memory device configured to store computer readable instructions, and a navigation processor configured to provide a navigation solution, wherein the navigation processor is coupled to receive the inertial measurements from the inertial measurement unit and the aiding device measurement data from the aiding device, wherein computer readable instructions direct the navigation processor to; identify an un-smoothed navigation solution inclusive of a navigation system reset wherein a value is associated with the navigation system reset; subtract the value associated with the navigation system reset from the un-smoothed navigation solution to generate an initial navigation solution; and incrementally add the value associated with the navigation system reset to the initial navigation solution at a configurable rate to generate a smoothed navigation solution. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A program product comprising a processor-readable medium on which program instructions are embodied, wherein the program instructions are configured, when executed by at least one programmable processor, to cause the at least one programmable processor:
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to identify an un-smoothed navigation solution inclusive of a navigation system reset wherein a value is associated with the navigation system reset; to subtract the value associated with the navigation system reset from the un-smoothed navigation solution to generate an initial navigation solution; and to incrementally add the value associated with the navigation system reset to the initial navigation solution at a configurable rate to generate a smoothed navigation solution. - View Dependent Claims (18, 19, 20)
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Specification