Method for improving accuracy of a velocity model

• US 6,947,880 B2
• Filed: 04/23/2002
• Issued: 09/20/2005
• Est. Priority Date: 04/23/2002
• Status: Expired due to Term

• Current Assignee: Motorola Solutions, Inc.
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Johnson, Mark J., Swope, Charles B., Krizik, Mark A.
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Craig, Dwin M.
• Application Number:
  US10/128,084
• Publication Number:
  US 20030200067A1
• Time in Patent Office: 1,246 Days
• Field of Search: 703/2, 701/59, 701200-201, 701/207, 701/213, 701218-220, 701222-226, 701300-302, 701/215
• US Class Current: 703/2
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01S 11/10 using Doppler effect

Abstract

A first velocity model for a first object (190) and a second velocity model for a second object (195) are established. A spatial relationship between the first object and the second object is established. At least a portion of the first velocity model is adjusted based on at least a portion of the second velocity model and the spatial relationship of the first object to the second object.

Claims

1. A method for improving accuracy of a velocity model in an inertial navigation system, comprising the steps of:

establishing a first velocity model for a first object with a first position estimate;

establishing a second velocity model for a second object with a second position estimate;

establishing a spatial relationship between the first object and the second object based on a single position estimate determined from the first and second position estimates; and

adjusting at least a portion of the first velocity model based on at least a portion of the second velocity model and the spatial relationship of the first object to the second object.

2. The method of claim 1 wherein at least one of the first and second velocity models is derived from a first reference velocity state estimate and a first estimated difference between the first reference velocity state estimate and a current velocity state estimate of the first object.

3. The method of claim 1 wherein at least one of the first and second velocity models is derived from a third velocity model.

4. The method of claim 1 wherein at least one of the first and second velocity models is derived from the other.

5. The method of claim 1 wherein the spatial relationship includes one of the following:

an estimated maximum distance between the first object and the second object, an estimated minimum distance between the first object and the second object, an estimated relative velocity between the first object and the second object, an estimated relative orientation between the first object and the second object, and an estimated distance between the first object and the second object.

6. The method of claim 1 wherein the first velocity model and the second velocity model share a reference frame.

7. The method of claim 1 wherein the spatial relationship includes at least one of the following:

relative position, velocity, orientation, rate of rotation, axis of rotation, and direction of rotation.

8. The method of claim 1 wherein at least one of the first and second objects is selected from a group consisting of:

a target device, a landmark, and a beacon.

9. The method of claim 1 further comprising the step of allowing one of the first or second velocity models to have a larger effect on the adjustment of the first velocity model than the other.

10. The method of claim 1 further comprising the step of estimating at least one confidence level for at least one parameter of the adjusted first velocity model based on at least one confidence level estimate in at least one of the first and second velocity models.

11. The method of claim 1 wherein at least one of the first or second velocity models is stored on the target object with which it is associated.

12. The method of claim 1 wherein at least one of the first or second velocity models is stored in a place other than on the target object with which it is associated.

13. The method of claim 1 wherein the velocity model is used in a location system.

14. The method of claim 1 wherein at least one velocity model is used by a plurality of objects based on the spatial relationship of the target objects and at least one of the first and second velocity models.

15. The method of claim 1 wherein the spatial relationship consists of proximity only.

16. The method of claim 1 wherein a confidence level is established for at least one of the spatial relationship of the first and second objects.