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Method, apparatus and computer program for azimuth determination e.g. for autonomous navigation applications

  • US 7,421,340 B2
  • Filed: 02/28/2005
  • Issued: 09/02/2008
  • Est. Priority Date: 02/28/2005
  • Status: Expired due to Fees
First Claim
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1. A method of determining an azimuth using a first azimuth data source responsive to a magnetic field to deliver first azimuth data, and a second azimuth data source delivering, independent of magnetic field, second azimuth data comprising the steps of:

  • analyzing said first and second azimuth data to determine whether a magnetic disturbance is present, anddetermining said azimuth selectively on the basis of;

    said first azimuth data, said second azimuth data, or a combination of said first and second azimuth data, based on the determination of said analyzing step, wherein said analyzing step comprises the sub-steps of;

    acquiring said first and second azimuth data over a plurality of sampling periods within a time window,performing a statistical analysis on said first and second azimuth data for said sampling periods, andidentifying a magnetic field disturbance on the basis of said statistical analysis, andwherein said azimuth determining step comprises basing the determined azimuth, in a situation in which a magnetic disturbance is determined to be present, on one of;

    i) said second azimuth data without reference to the first azimuth data, orii) a combination of said second azimuth data and said first azimuth data.

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