Configurable inertial navigation system with dual extended kalman filter modes

• US 8,065,074 B1
• Filed: 09/08/2008
• Issued: 11/22/2011
• Est. Priority Date: 10/01/2007
• Status: Active Grant

• Current Assignee: Aceinna Transducer Systems Company Limited
• Original Assignee: Memsic Transducer Systems Co., Ltd.
• Inventors: Liccardo, Darren S.
• Primary Examiner(s): To; Tuan C
• Application Number:
  US12/206,566
• Time in Patent Office: 1,170 Days
• Field of Search: 701/200, 701/201, 702/151, 702/141, 735/040.4, 735/033, 735/040.3, 735/140.1
• US Class Current: 701/200
• CPC Class Codes: G01C 21/1654 with electromagnetic compass

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.

Claims

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.

2. The method of claim 1 further comprising initializing parameters for the second correction signal based on the navigation state information computed by the first navigation algorithm using the first correction signal.

3. The method of claim 1 wherein the predetermined event comprises determination that at least one sensor input is unavailable or unreliable.

4. The method of claim 1 wherein the first navigation algorithm and the second navigation algorithm implement an Extended Kalman Filter (EKF).

5. The method of claim 4, further comprising:

generating propagation information representing attitude quaternion and tangent velocities of the vehicle based on the first correction signal or the second correction signal; and

generating state propagation information based on the propagation information, the state propagation information representing vehicle orientation, velocity, position, and sensor calibration.

6. The method of claim 1, wherein the first set of sensor inputs comprises a magnetometer signal received from a magnetometer and an inertial sensor signal received from an inertial sensor assembly.

7. The method of claim 6, further comprising:

computing an accelerometer adjustment factor based on a yaw rate of the vehicle; and

adjusting the first correction signal based on the accelerometer adjustment factor.

8. The method of claim 1, wherein the second set of sensor inputs comprises a magnetometer signal received from a magnetometer and a Global Positioning System (GPS) information received from a GPS receiver.

9. The method of claim 1, receiving setting inputs associated with characteristics or application of the vehicle to set parameters used in the first navigation algorithm and the second navigation algorithm.

10. The method of claim 1, wherein the setting inputs comprise at least one of an inertial sensor low-pass filter bandwidth, packet output data, packet output rate, system orientation, static yaw tracking behavior, vehicle track pointing offset, magnetometer environmental bias and scale factor, static and dynamic activity, inertial sensor over-range behavior, turn switch threshold, and selection regarding use of sensors.

11. A navigation system, comprising:

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.

12. The navigation system of claim 11, wherein the predetermined criteria comprising whether a sensor input from a sensor is available and reliable.

13. The navigation system of claim 11, further comprising:

a time propagation module generating propagation information representing attitude quaternion and tangent velocities of the vehicle based on the first correction signal or the second correction signal; and

a state propagation module generating state propagation information based on the propagation information, the state propagation information representing vehicle orientation, velocity, position, and sensor calibration.

14. The navigation system of claim 11, wherein the first set of sensor inputs comprises a magnetometer signal generated by a magnetometer and an inertial sensor signal generated by an inertial sensor assembly.

15. The navigation system of claim 14, wherein the EKF navigation module is further configured to:

compute an accelerometer adjustment factor based on a yaw rate of the vehicle; and

adjust the first correction signal based on the accelerometer adjustment factor.

16. The navigation system of claim 11, wherein the second set of sensor inputs comprises a magnetometer signal generated by a magnetometer and a Global Positioning System (GPS) information generated by a GPS receiver.

17. The navigation system of claim 11, further comprising a communication module configured to receive setting inputs associated with characteristics or application of the vehicle, parameters used in the first navigation module and the second navigation module adjusted according to the setting inputs.

18. The navigation system of claim 11, wherein the setting inputs comprise at least one of an inertial sensor low-pass filter bandwidth, packet output data, packet output rate, a system orientation, static yaw tracking behavior, an vehicle track pointing offset, magnetometer environmental bias and scale factor, static and dynamic activity, inertial sensor over-range behavior, turn switch threshold, and selection regarding use of sensors.

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:

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.

20. The computer readable storage medium of claim 19, further storing instructions, when executed cause the processor to receive setting inputs associated with characteristics or application of the vehicle to set parameters used in the first navigation module and the second navigation module.