Navigation method and apparatus
First Claim
Patent Images
1. A navigation apparatus for generating at least one high-accuracy navigation parameter (P, V, A) comprising:
- a relative sensor system (200) adapted to register relative movements of the apparatus and in response thereto produce at least one relative data signal (Δ
v, Δ
θ
),a radio receiver system (100) adapted to receive navigation data signals (RFGNSS) from a plurality of external signal sources and based thereon produce at least one tracking data signal (IGNSS, QGNSS), the radio receiver system (100) including a central processing unit (140) adapted to receive the at least one tracking data signal (IGNSS, QGNSS), receive the at least one relative data signal (Δ
v, Δ
θ
), and based on the received signals produce the at least one navigation parameter (P, V, A),a common clock unit (300) adapted to produce a first clock signal (CL1) to form a sampling basis in the radio receiver system (100) and a second clock signal (CL2) to form a sampling basis in the relative sensor system (200), anda common software module (400) adapted to realize at least one function (130, 140) of the radio receiver system (100) and at least one function (230) of the relative sensor system (200), the common software module (400) includes the central processing unit (140), and the central processing unit (140) comprises a Kalman filter, said Kalman filter is adapted toreceive the at least one tracking data signal (IGNSS, QGNSS),receive the at least one relative data signal (Δ
v, Δ
θ
), and based on the received signals, produce a composite tracking return signal (Scomp-tr) and a composite relative return signal (Scomp-rel),feed back the composite tracking return signal (Scomp-tr) within the radio receiver system (100), andfeed back the composite relative return signal (Scomp-rel) to the relative sensor system (200).
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Abstract
The apparatus generates at least one high-accuracy navigation parameter (P, V, A) by means of a relative sensor system and a radio receiver system. The relative sensor system registers relative movements of the apparatus and produces at least one relative data signal (Δv, Δθ). The radio receiver system receives navigation data signals (RFGNSS) from a plurality of external signal sources and produces at least one tracking data signal (IGNSS, QGNSS). The radio receiver system includes a central processing unit realized in a software module. A common clock unit produces a first clock signal to form a sampling basis in the radio receiver system and a second clock signal to form a sampling basis in the relative sensor system, where the clock signals are mutually synchronous. Data return loops may be closed in the common software module both with respect to the radio receiver system and the relative sensor system to achieve ultra-tight coupling of the two systems.
25 Citations
13 Claims
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1. A navigation apparatus for generating at least one high-accuracy navigation parameter (P, V, A) comprising:
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a relative sensor system (200) adapted to register relative movements of the apparatus and in response thereto produce at least one relative data signal (Δ
v, Δ
θ
),a radio receiver system (100) adapted to receive navigation data signals (RFGNSS) from a plurality of external signal sources and based thereon produce at least one tracking data signal (IGNSS, QGNSS), the radio receiver system (100) including a central processing unit (140) adapted to receive the at least one tracking data signal (IGNSS, QGNSS), receive the at least one relative data signal (Δ
v, Δ
θ
), and based on the received signals produce the at least one navigation parameter (P, V, A),a common clock unit (300) adapted to produce a first clock signal (CL1) to form a sampling basis in the radio receiver system (100) and a second clock signal (CL2) to form a sampling basis in the relative sensor system (200), and a common software module (400) adapted to realize at least one function (130, 140) of the radio receiver system (100) and at least one function (230) of the relative sensor system (200), the common software module (400) includes the central processing unit (140), and the central processing unit (140) comprises a Kalman filter, said Kalman filter is adapted to receive the at least one tracking data signal (IGNSS, QGNSS), receive the at least one relative data signal (Δ
v, Δ
θ
), and based on the received signals, produce a composite tracking return signal (Scomp-tr) and a composite relative return signal (Scomp-rel),feed back the composite tracking return signal (Scomp-tr) within the radio receiver system (100), and feed back the composite relative return signal (Scomp-rel) to the relative sensor system (200). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of generating at least one high-accuracy navigation parameter (P, V, A) by means of a navigation apparatus, the method comprising:
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registering relative movements of the apparatus at a sampling basis given by a particular clock signal (CL1), producing at least one relative data signal (Δ
v, Δ
θ
) in response to the registered relative movements,receiving navigation data signals (RFGNSS) from a plurality of external signal sources, producing at least one tracking data signal (IGNSS, QGNSS) in response to the received navigation data signals (RFGNSS) based on the particular clock signal (CL1), producing the at least one navigation parameter (P, V, A) based on the at least one relative data signal (Δ
v, Δ
θ
) and the at least one tracking data signal (IGNSS, QGNSS),Kalman-filtering the at least one tracking data signal (IGNSS, QGNSS) and the at least one relative data signal (Δ
v, Δ
θ
) to based on these signals produce a composite tracking return signal (Scomp-tr) and a composite relative return signal (Scomp-rel),feeding back the composite tracking return signal (Scomp-tr) to influence the production of the at least one tracking data signal (IGNSS, QGNSS), and feeding back the composite relative return signal (Scomp-rel) to influence the production of the at least one relative data signal (Δ
v, Δ
θ
).
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Specification
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Current AssigneeQualcomm technologies international, ltd. (Qualcomm, Inc.)
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Original AssigneeNordnav Technologies AB (Qualcomm, Inc.)
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InventorsThor, Jonas Paul, Nordmark, Per-Ludvig Bo
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Primary Examiner(s)Camby; Richard M.
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Application NumberUS10/544,420Publication NumberTime in Patent Office1,349 DaysField of Search701200-213, 701/214, 701/215, 701/216, 701/220, 701/221, 34235701-35712US Class Current701/200CPC Class CodesG01C 21/1652 with ranging devices, e.g. ...G01C 21/1654 with electromagnetic compassG01C 21/1656 with passive imaging device...G01S 19/26 involving a sensor measurem...G01S 19/47 the supplementary measureme...
