Navigation component modeling system and method

• US 7,668,655 B2
• Filed: 12/07/2004
• Issued: 02/23/2010
• Est. Priority Date: 12/07/2004
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Soehren, Wayne A.
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Sriraman; Nikhil
• Application Number:
  US11/006,985
• Publication Number:
  US 20060122775A1
• Time in Patent Office: 1,904 Days
• Field of Search: 701/220, 701/221, 342/357.01, 342/357.12, 342/357.14, 340/988
• US Class Current: 701/220
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

An inertial navigation system includes a navigation component, such as an inertial measurement unit, a processor in communication with the navigation component, and a filter embedded in computer code implemented within the processor. The filter includes a model of the navigation component, and one or more parameters of the model are configured after startup of the inertial navigation system based upon performance characteristics of the individual navigation component included in the inertial navigation system.

Claims

1. An inertial navigation system, comprising:

a navigation component;

a processor in communication with the navigation component; and

a filter embedded in computer code implemented within the processor, wherein the filter comprises a model of the navigation component, and one or more parameters of the model are configured after startup of the inertial navigation system based upon performance characteristics of the navigation component included in the inertial navigation system, the performance characteristics comprising data measured during a calibration procedure;

wherein the performance characteristics comprise one or more of gyroscope bias offsets, accelerometer bias offsets, scale factor offsets, g sensitivity, sensor misalignment, or non-orthogonality.

2. The inertial navigation system of claim 1, wherein the navigation component comprises an inertial measurement unit.

3. The inertial navigation system of claim 1, wherein the navigation component comprises a global positioning system.

4. The inertial navigation system of claim 1, wherein the navigation component comprises a barometric altimeter.

5. The inertial navigation system of claim 1, wherein the navigation component comprises a radar altimeter.

6. The inertial navigation system of claim 1, wherein the navigation component comprises a magnetometer.

7. The inertial navigation system of claim 1, wherein the navigation component comprises a Doppler velocimeter.

8. The inertial navigation system of claim 1, wherein the filter comprises a Kalman filter.

9. A method of configuring a navigation component model in a filter of an inertial navigation system, the method comprising:

after startup of the inertial navigation system, receiving calibration data regarding the navigation component included in the inertial navigation system, the received calibration data comprising a plurality of coefficients measured during a preceding calibration procedure and stored in a memory of the navigation component; and

individually configuring a model customized for the navigation component in the filter of the inertial navigation system for a plurality of predefined performance categories based upon the received calibration data, wherein the calibration data comprises one or more of gyroscope bias offsets, accelerometer bias offsets, scale factor offsets, g sensitivity, sensor misalignment, or non-orthogonality.

10. The method of claim 9, wherein the navigation component comprises an inertial measurement unit.

11. The method of claim 9, wherein the navigation component comprises a global positioning system.

12. The method of claim 9, wherein the navigation component comprises a barometric altimeter.

13. The method of claim 9, wherein the navigation component comprises a radar altimeter.

14. The method of claim 9, wherein the navigation component comprises a magnetometer.

15. The method of claim 9, wherein the navigation component comprises a Doppler velocimeter.

16. The method of claim 9, wherein the filter comprises a Kalman filter.

17. The method of claim 9, wherein individually configuring the model comprises analyzing the calibration data with a software application to develop parameters for one or more states of the model corresponding to the calibration data.

18. A method of configuring a navigation component model in a filter of an inertial navigation system, the method comprising:

after startup of the inertial navigation system, receiving data regarding a performance category into which the navigation component fits, wherein the performance category is based upon characteristics measured during a preceding calibration procedure of the navigation component included in the inertial navigation system, wherein the characteristics measured during the preceding calibration procedure comprise one or more of gyroscope bias offsets, accelerometer bias offsets, scale factor offsets, g sensitivity, sensor misalignment, or non-orthogonality; and

selecting one of a plurality of pre-configured navigation component models, wherein the selected model corresponds to the performance category of the navigation component.

19. The method of claim 18, wherein the navigation component comprises an inertial measurement unit.

20. The method of claim 18, wherein the navigation component comprises a global positioning system.

21. The method of claim 18, wherein the navigation component comprises a barometric altimeter.

22. The method of claim 18, wherein the navigation component comprises a radar altimeter.

23. The method of claim 18, wherein the navigation component comprises a magnetometer.

24. The method of claim 18, wherein the navigation component comprises a Doppler velocimeter.

25. The method of claim 18, wherein the filter comprises a Kalman filter.