High speed gyrocompass alignment via multiple Kalman filter based hypothesis testing
First Claim
1. A method of aligning a gyro-compass, the method including:
- operating at least two Kalman filters in a set of Kalman filters to generate an error correction to at least a single navigation solution in a set of navigation solutions to provide coarse alignment azimuth convergence;
selecting at least one Kalman filter from the set of Kalman filters and at least one navigation solution from the set of navigation solutions, wherein the selecting is based at least in part on the generated error correction; and
operating the at least one selected Kalman filter and the at least one selected navigation solution to provide fine alignment convergence to a correct azimuth,wherein each navigation solution includes an azimuth different from the azimuth of each other navigation solution; and
wherein each navigation solution azimuth is separated by no more than two times a small angle error assumption.
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Abstract
A method of aligning a gyro-compass comprising operating at least two Kalman filters in a set of Kalman filters to generate an error correction to at least a single navigation solution in a set of navigation solutions in order to provide coarse alignment azimuth convergence. The method further comprises selecting at least one selected Kalman filter from the set of Kalman filters and at least one selected navigation solution from the set of navigation solutions, and operating the at least one selected Kalman filter and the at least one selected navigation solution to provide fine alignment convergence to a correct azimuth. The selecting is based at least in part on the generated error correction, each navigation solution includes an azimuth different from the azimuth of each other navigation solution and each navigation solution azimuth is separated by no more than two times a small angle error assumption.
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Citations
20 Claims
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1. A method of aligning a gyro-compass, the method including:
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operating at least two Kalman filters in a set of Kalman filters to generate an error correction to at least a single navigation solution in a set of navigation solutions to provide coarse alignment azimuth convergence; selecting at least one Kalman filter from the set of Kalman filters and at least one navigation solution from the set of navigation solutions, wherein the selecting is based at least in part on the generated error correction; and operating the at least one selected Kalman filter and the at least one selected navigation solution to provide fine alignment convergence to a correct azimuth, wherein each navigation solution includes an azimuth different from the azimuth of each other navigation solution; and wherein each navigation solution azimuth is separated by no more than two times a small angle error assumption. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An inertial navigation unit comprising:
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at least one sensor to provide input data; at least two Kalman filters communicatively coupled to the at least one sensor; wherein the inertial navigation system generates at least a single navigation solution based at least in part on the input data using the at least two Kalman filters; wherein the inertial navigation system terminates the operation of one or more Kalman filter based on at least in part measurement residuals and estimated-convergent-parameter errors received from each Kalman filter, wherein the inertial navigation system operates at least one of a selected Kalman filter and a selected navigation solution to provide fine alignment convergence to a convergent parameter. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A program product comprising program instructions, embodied on a storage medium, that are operable to cause a programmable processor to:
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operate at least two Kalman filters in a set of Kalman filters to generate an error correction to at least a single navigation solution in a set of navigation solutions to provide azimuth convergence; select at least one selected Kalman filter from the set of Kalman filters and at least one selected navigation solution from the set of navigation solutions, wherein the selecting is based at least in part on the generated error correction; and operate the at least one selected Kalman filter and the at least one selected navigation solution to provide azimuth convergence to the required accuracy level, wherein a completion time for a gyrocompass alignment to the required accuracy level is reduced. - View Dependent Claims (20)
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Specification