ADJUSTED NAVIGATION
First Claim
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1. A navigation device, comprising:
- a navigation state estimation unit for repeatedly providing a navigation state estimate,a prediction unit for providing, using the navigation state estimate, a predicted magnetic property value,a storage unit for retrieving, using the navigation state estimate, a previously stored magnetic property value,a subtraction unit for producing the difference of the predicted magnetic property value and the retrieved magnetic property value,a filter unit for producing, using said difference, a navigation state correction value, anda correction unit for correcting, using said navigation state correction value, a corrected navigation state estimate,wherein the prediction unit comprises;
a magnetic measuring unit for repeatedly providing a measured magnetic field strength value, andan integrating unit for integrating the measured magnetic field strength values to produce the magnetic property value corresponding with the navigation state estimate.
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Abstract
A navigation device (1) comprises:
- a navigation state estimation unit (11) for repeatedly providing a navigation state estimate comprising at least one of the position, the velocity and the attitude of the device,
- a prediction unit (12) for providing, using the navigation state estimate, a predicted magnetic property value,
- a storage unit (13) for retrieving, using the navigation state estimate, a previously stored magnetic property value,
- a subtraction unit (14) for producing the difference of the predicted magnetic property value and the retrieved magnetic property value,
- a filter unit (15) for producing, using said difference, a navigation state correction value, and
- a correction unit (16) for correcting, using said navigation state correction value, a corrected navigation state estimate.
The prediction unit (12) comprises:
- a magnetic measuring unit for repeatedly providing a measured magnetic field strength value, and
- an integrating unit for integrating the measured magnetic field strength values to produce the magnetic property value corresponding with the navigation state estimate.
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Citations
19 Claims
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1. A navigation device, comprising:
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a navigation state estimation unit for repeatedly providing a navigation state estimate, a prediction unit for providing, using the navigation state estimate, a predicted magnetic property value, a storage unit for retrieving, using the navigation state estimate, a previously stored magnetic property value, a subtraction unit for producing the difference of the predicted magnetic property value and the retrieved magnetic property value, a filter unit for producing, using said difference, a navigation state correction value, and a correction unit for correcting, using said navigation state correction value, a corrected navigation state estimate, wherein the prediction unit comprises; a magnetic measuring unit for repeatedly providing a measured magnetic field strength value, and an integrating unit for integrating the measured magnetic field strength values to produce the magnetic property value corresponding with the navigation state estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A navigation method comprising the steps of:
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repeatedly providing a navigation state estimate, providing, using the navigation state estimate, a predicted magnetic property value, retrieving, using the navigation state estimate, a previously stored magnetic property value, producing the difference of the predicted magnetic property value and the retrieved magnetic property value, producing, using said difference, a navigation state correction value, and correcting, using said navigation state correction value, a corrected navigation state estimate, wherein the step of providing a predicted magnetic property value comprises; repeatedly providing a measured magnetic field strength value, and integrating the measured magnetic field strength values to produce the magnetic property value corresponding with the navigation state estimate. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification