Method and apparatus for high accuracy relative motion determination using inertial sensors
First Claim
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1. A system comprising:
- a first unit located at a first position, the first unit operable to generate first unit information that is responsive to a motion of the first position;
a second unit located at a second position nominally offset from the first position by a nominal lever-arm, the second unit operable to generate second unit information that is responsive to a motion of the second position; and
a processing unit operable to receive the first unit information from the first unit and the second unit information from the second unit, the processing unit additionally operable to generate compensated sensor information from the first unit information and the second unit information;
wherein the processing unit generates resets to relative states of a relative navigation solution as a function of the compensated sensor information and reference information,wherein the compensated sensor information is generated from the first unit information and the second unit information andwherein the reference information is indicative of at least one of the nominal lever-arm of the second position relative to the first position and a nominal relative velocity of the second position relative to the first position.
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Abstract
A relative navigation system including a first unit responsive to the motion of a first position, a second unit responsive to the motion of a second position and a processing unit that generates a relative navigation solution as a function of first unit information and second unit information. The generated relative navigation solution is indicative of at least one of: a relative position vector of the second position relative to the first position, a relative velocity of the second position relative to the first position, and a relative attitude of the first unit at the first position relative to the second unit at the second position.
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16 Claims
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1. A system comprising:
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a first unit located at a first position, the first unit operable to generate first unit information that is responsive to a motion of the first position; a second unit located at a second position nominally offset from the first position by a nominal lever-arm, the second unit operable to generate second unit information that is responsive to a motion of the second position; and a processing unit operable to receive the first unit information from the first unit and the second unit information from the second unit, the processing unit additionally operable to generate compensated sensor information from the first unit information and the second unit information; wherein the processing unit generates resets to relative states of a relative navigation solution as a function of the compensated sensor information and reference information, wherein the compensated sensor information is generated from the first unit information and the second unit information and wherein the reference information is indicative of at least one of the nominal lever-arm of the second position relative to the first position and a nominal relative velocity of the second position relative to the first position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification