System and method for using multiple aiding sensors in a deeply integrated navigation system
First Claim
1. A system processor for a navigation system, comprising in combination:
- a plurality of radio frequency (RF) ranging systems operable to compute a heading;
a Kalman filter operable to calculate corrections to a navigation solution based on data received from a plurality of sensors, wherein the Kalman filter controls the plurality of RF ranging systems with the plurality of sensors;
mode logic operable to (i) select an operating mode of the navigation system and (ii) select which data the Kalman filter uses to calculate the corrections to the navigation solution, wherein the selections are based on which of the plurality of sensors is providing accurate data; and
a navigation computation element operable to calculate the navigation solution based on data provided by an inertial measurement unit and the corrections to the navigation solution provided by the Kalman filter.
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Abstract
A navigation system with resume logic and mode logic provides as an output an accurate navigation solution using multiple RF sensors. The resume logic determines which sensors are currently providing good data to the navigation system. The mode logic selects an operating mode of the navigation system and selects which data to use for calculating corrections to the navigation solution. The mode logic makes the selections based on the results of the resume logic. The resume logic continues to test data from the sensors. If a sensor that has previously provided erroneous data starts providing good data, the mode logic will automatically select that data for use in calculating the corrections to the navigation solution. The tracking of RF transmitters by the multiple RF sensors is controlled using a plurality of available inertial and non-inertial sensors.
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Citations
38 Claims
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1. A system processor for a navigation system, comprising in combination:
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a plurality of radio frequency (RF) ranging systems operable to compute a heading; a Kalman filter operable to calculate corrections to a navigation solution based on data received from a plurality of sensors, wherein the Kalman filter controls the plurality of RF ranging systems with the plurality of sensors; mode logic operable to (i) select an operating mode of the navigation system and (ii) select which data the Kalman filter uses to calculate the corrections to the navigation solution, wherein the selections are based on which of the plurality of sensors is providing accurate data; and a navigation computation element operable to calculate the navigation solution based on data provided by an inertial measurement unit and the corrections to the navigation solution provided by the Kalman filter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A navigation system, comprising in combination:
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a means of computing heading from a plurality of radio frequency (RF) ranging systems; a means for monitoring a plurality of sensors; a means for controlling the plurality of RF ranging systems with the plurality of sensors; a means for determining which of the plurality of sensors is providing accurate data; a means for selecting data from sensors providing accurate data; a means for selecting an operating mode of the navigation system; and a means for calculating corrections to a navigation solution based on the selected data and the selected operating mode. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method of calculating corrections to a navigation solution based on accurate data, comprising in combination:
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computing heading from a plurality of radio frequency (RF) ranging systems; monitoring a plurality of sensors; controlling the plurality of RF ranging systems with the plurality of sensors; determining which of the plurality of sensors is providing accurate data; selecting data from the sensors providing accurate data; selecting an operating mode of a navigation system; and calculating the corrections to the navigation solution using the selected data and the selected operating mode. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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Specification