Rapid self-alignment of a strapdown inertial system through real-time reprocessing
First Claim
1. A method comprising:
- executing real-time navigation software on real-time inertial data to generate real-time navigation data;
executing real-time Kalman filter software on the real-time navigation data and real-time aiding data;
recording the real-time inertial data and the real-time aiding data as real-time input data in a buffer;
initializing a playback process;
executing playback navigation software on buffered inertial data to generate playback navigation data; and
executing playback Kalman filter software on the playback navigation data and buffered aiding data, wherein the execution of the real-time navigation software and the real-time Kalman filter software effect a real-time alignment process, and wherein the playback navigation software and the playback Kalman filter software effect an alignment process executed at a faster rate than the real-time navigation software and real-time Kalman filter software.
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Abstract
A method of aligning an inertial navigation system or gyrocompass, including executing real-time navigation software on real-time inertial data to generate real-time navigation data, executing real-time Kalman filter software on the real-time navigation data and real-time aiding data, recording the real-time inertial data and the real-time aiding data as real-time input data in a buffer, initializing a playback process, executing playback navigation software on buffered inertial data to generate playback navigation data, and executing playback Kalman filter software on the playback navigation data and buffered aiding data. The execution of the real-time navigation software and the real-time Kalman filter software effect a real-time alignment process. The playback navigation software and the playback Kalman filter software effect an alignment process executed at a faster rate than the real-time navigation software and real-time Kalman filter software.
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Citations
20 Claims
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1. A method comprising:
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executing real-time navigation software on real-time inertial data to generate real-time navigation data; executing real-time Kalman filter software on the real-time navigation data and real-time aiding data; recording the real-time inertial data and the real-time aiding data as real-time input data in a buffer; initializing a playback process; executing playback navigation software on buffered inertial data to generate playback navigation data; and executing playback Kalman filter software on the playback navigation data and buffered aiding data, wherein the execution of the real-time navigation software and the real-time Kalman filter software effect a real-time alignment process, and wherein the playback navigation software and the playback Kalman filter software effect an alignment process executed at a faster rate than the real-time navigation software and real-time Kalman filter software. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An inertial navigation unit comprising:
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at least one sensor to provide real-time input data; a programmable navigation processor communicatively coupled to the at least one sensor; real-time navigation software executable by the programmable navigation processor, the real-time navigation software to generate a real-time navigation solution at a first tasking rate, the generation of the real-time navigation solution based in part on the real-time input data; real-time Kalman filter software executable by the programmable navigation processor to process the real-time input data at a second tasking rate; playback navigation software executable by the programmable navigation processor after a selected time to generate a playback navigation solution at a rate faster than the first tasking rate, wherein the generation of the playback navigation solution is based in part on buffered input data; and playback Kalman filter software executable by the programmable navigation processor after the selected time to process the buffered input data at a rate faster than the second tasking rate, wherein the first tasking rate is higher than the second tasking rate. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A program-product comprising program instructions, embodied on a storage medium, that cause a programmable processor to:
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execute real-time navigation software on real-time inertial data to generate real-time navigation data; execute real-time Kalman filter software on the real-time navigation data and real-time aiding data; record the real-time inertial data and the real-time aiding data as real-time input data in a buffer; initialize a playback process; execute playback navigation software on buffered inertial data to generate playback navigation data; and execute playback Kalman filter software on the playback navigation data and buffered aiding data, wherein the execution of the real-time navigation software and the real-time Kalman filter software effect a real-time alignment process, and wherein the playback navigation software and the playback Kalman filter software effect an alignment process executed at a faster rate than the real-time navigation software and real-time Kalman filter software. - View Dependent Claims (18, 19, 20)
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Specification