Systems and methods for improved inertial navigation

• US 7,328,104 B2
• Filed: 05/17/2006
• Issued: 02/05/2008
• Est. Priority Date: 05/17/2006
• Status: Expired due to Fees

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Fall, Robert H., Overstreet, Lisa M.
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Peche; Jorge O
• Application Number:
  US11/383,895
• Publication Number:
  US 20070271037A1
• Time in Patent Office: 629 Days
• Field of Search: 701/207, 701/220, 701/213, 701/214, 731/78, 73/17.7, 73/17.8, 73/13.8, 342/357.14, 342/357.15, 318/582, 340/988
• US Class Current: 701/220
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

A method for producing inertial measurement data is provided. The method comprises receiving raw inertial measurement data from one or more inertial sensors; receiving raw position data based on signals from a global navigation satellite system; processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates; and calculating enhanced inertial measurement data based on the raw inertial measurement data and the state variable estimates from the filter.

Claims

1. A method for producing inertial measurement data, the method comprising:

receiving raw inertial measurement data from one or more inertial sensors;

receiving raw position data based on signals from a global navigation satellite system;

processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates; and

calculating enhanced inertial measurement data based on the raw inertial measurement data and the state variable estimates from the filter; and

wherein processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates comprises generating state variable estimates including δ

Δ

v and δ

Δ

θ

.

2. The method of claim 1, wherein receiving raw inertial measurement data from one or more inertial sensors comprises receiving instrument data from one or more of a gyroscope and an accelerometer.

3. The method of claim 1, wherein receiving raw inertial measurement data from one or more inertial sensors comprises receiving changes in angular position (Δ

θ

) data and change in velocity (Δ

v) data.

4. The method of claim 1, wherein receiving raw position data based on signals from a global navigation satellite system comprises receiving signals from one or more of a global positioning system satellite and a Galileo positioning system satellite.

5. The method of claim 1, wherein processing the raw inertial measurement data and the raw position data with a filter to generate state variable estimates further comprises generating state variable estimates including a position (P_EST) and a rate of change in position ({dot over (P)}_EST).

6. The method of claim 1, wherein the enhanced inertial measurement data provides inertial measurement data in the form of incremental velocity change and incremental angle change information.

7. A global navigation satellite system enhanced inertial measurement unit, the unit comprising:

one or more inertial sensors adapted to detect a change in angular position (Δ

θ

) and a change in velocity (Δ

v) and generate raw inertial measurement data based on the detected change in angular position and change in velocity;

a global navigation satellite system receiver adapted to generate raw position data based on signals received from a global navigation satellite system;

a filter coupled to the one or more inertial sensors and the global navigation satellite system receiver, the filter adapted to calculate one or more estimated state variables including a change to the change in velocity (δ

Δ

v) and a change in the change in angular position (δ

Δ

θ

) based on the raw inertial measurement data and the raw position data; and

an output generator coupled to the one or more inertial sensors and the filter and adapted to calculate an enhanced inertial measurement data based on the sum of the raw inertial measurement data and the one or more estimated state variables.

8. The unit of claim 7, wherein the inertial sensors comprise one or more gyroscopes and accelerometers that produce the raw inertial measurement data.

9. The unit of claim 7, wherein the global navigation satellite system receiver comprises one or both of a global positioning system (GPS) receiver and a Galileo positioning system receiver.

10. The unit of claim 7, wherein the output generator is further adapted to calculate an enhanced inertial velocity measurement (Δ

v′

) based on the sum of the change in velocity (Δ

v) and the change to the change in velocity (δ

Δ

v), and calculate and enhanced inertial angular measurement (Δ

θ

′

) based on the sum of the change in angular position (Δ

θ

) and the change in the change in angular position (δ

Δ

θ

).

11. The unit of claim 7, wherein the filter further calculates an estimated position (P_EST), and an estimated rate of change in position ({dot over (P)}_EST).

12. The unit of claim 11, wherein the output generator receives the estimated position (P_EST) and an estimated rate of change in position ({dot over (P)}_EST), and calculates a lag associated with the filter, wherein the output generator is further adapted to adjust the enhanced inertial measurement data based on the calculated lag.

13. The unit of claim 7, wherein the output generator is adapted to smooth the one or more estimated state variables to compensate for differences in a data output rate of the one or more inertial sensors and an update frequency of the filter.

14. A navigation system, the system comprising:

means for generating raw inertial measurement data;

means for generating raw position data;

means for generating state variable estimates responsive to the means for generating raw inertial measurement data and the means for generating raw position data; and

means for calculating enhanced inertial measurement data responsive to the means for generating raw inertial measurement data and the means for generating state variable estimates; and

wherein the means for generating state variable estimates generates state variable estimates including one or more of a change to the change in velocity (δ

Δ

v), a change in the change in angular position (δ

Δ

θ

), position (P_EST) and a rate of change in position ({dot over (P)}_EST).

15. The system of claim 14, wherein the means for generating raw inertial measurement data outputs data in the form of changes in angular position (Δ

θ

) data and change in velocity (Δ

v) data.

16. The system of claim 14, wherein the means for calculating enhanced inertial measurement data is adapted to receives the estimated position (P_EST) and an estimated rate of change in position ({dot over (P)}_EST), and calculate a lag associated with the means for generating state variable estimates, wherein the means for calculating enhanced inertial measurement data is further adapted to adjust the enhanced inertial measurement data based on the calculated lag.

17. A navigation system, the system comprising:

means for generating raw inertial measurement data;

means for generating raw position data;

means for generating state variable estimates responsive to the means for generating raw inertial measurement data and the means for generating raw position data; and

means for calculating enhanced inertial measurement data responsive to the means for generating raw inertial measurement data and the means for generating state variable estimates; and

wherein the means for calculating enhanced inertial measurement data generates data in the form of a change in angular position (Δ

θ

′

) and a change in velocity (Δ

v′

).

18. A navigation system, the system comprising:

means for generating raw inertial measurement data;

means for generating raw position data;

means for generating state variable estimates responsive to the means for generating raw inertial measurement data and the means for generating raw position data; and

means for calculating enhanced inertial measurement data responsive to the means for generating raw inertial measurement data and the means for generating state variable estimates; and

wherein the means for calculating enhanced inertial measurement data is further adapted to calculate an enhanced inertial velocity measurement (Δ

v′

) based on a sum of the a change in velocity (Δ

v) and a change to the change in velocity (δ

Δ

v), and calculate an enhanced inertial angular measurement (Δ

θ

′

) based on a sum of a change in angular position (Δ

θ

) and a change in the change in angular position (δ

Δ

θ

).