Configurable inertial navigation system with dual extended kalman filter modes
First Claim
1. A computer-implemented method for estimating navigation state information of a vehicle, comprising:
- selecting a first navigation algorithm for computation of the navigation state information;
generating a first correction signal based on a first set of sensor inputs;
computing the navigation state information based on the first navigation algorithm and the first correction signal;
switching to a second navigation algorithm for computation of the navigation state information responsive to detecting a predetermined event;
generating a second correction signal based on a second set of sensor inputs;
computing the navigation state information based on the second navigation algorithm and the second correction signal; and
outputting the navigation state information.
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Abstract
A system and method for more accurately and robustly estimating navigation state of a vehicle by adaptively processing signals from an inertial sensor assembly and other sensors. A navigation system receives signals from two or more sensors to evaluate and correct the attitude estimated by an Extended Kalman Filter (EKF). The navigation system selects sensor signals from the other sensor assemblies and processes the selected sensor signals in conjunction with estimates from the inertial navigation module to obtain more accurate estimates of the attitude. The parameters and conditions for using certain sensor signals may be adjusted based on the characteristics and configuration of the vehicle.
54 Citations
20 Claims
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1. A computer-implemented method for estimating navigation state information of a vehicle, comprising:
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selecting a first navigation algorithm for computation of the navigation state information; generating a first correction signal based on a first set of sensor inputs; computing the navigation state information based on the first navigation algorithm and the first correction signal; switching to a second navigation algorithm for computation of the navigation state information responsive to detecting a predetermined event; generating a second correction signal based on a second set of sensor inputs; computing the navigation state information based on the second navigation algorithm and the second correction signal; and outputting the navigation state information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A navigation system, comprising:
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an Extended Kalman Filter (EKF) navigation module comprising; a first navigation module configured to compute navigation state information of a vehicle by processing a first correction signal using a first algorithm, the first correction signal generated using a first set of sensor inputs; and a second navigation module configured to compute the navigation state information of the vehicle by processing a second correction signal using a second algorithm, the second correction signal generated using a second set of sensor inputs; a navigation mode switching module for selecting the first navigation module or the second navigation module based on a predetermined criteria; and sensors generating the first set of sensor inputs and the second set of sensor inputs. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A computer readable storage medium structured to store instructions executable by a processor in a computing device in a navigation system, the instructions, when executed cause the processor to:
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select a first navigation algorithm for computation of the navigation state information; generate a first correction signal based on a first set of sensor inputs; compute the navigation state information based on the first navigation algorithm and the first correction signal; switch to a second navigation algorithm for computation of the navigation state information responsive to detecting a predetermined event; generate a second correction signal based on a second set of sensor inputs; compute the navigation state information based on the second navigation algorithm and the second correction signal; and output the navigation state information. - View Dependent Claims (20)
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Specification