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Systems and methods to incorporate master navigation system resets during transfer alignment

  • US 8,515,672 B1
  • Filed: 03/01/2012
  • Issued: 08/20/2013
  • Est. Priority Date: 03/01/2012
  • Status: Active Grant
First Claim
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1. A navigation system for performing a transfer alignment, the navigation system comprising:

  • a set of local inertial sensors;

    a local strap-down navigation processor coupled to the set of local inertial sensors, the local strap-down navigation processor receiving inertial navigation data from the set of local inertial sensors and converting the inertial navigation data into a navigation solution;

    a local Kalman filter coupled to the local strap-down navigation processor, the local Kalman filter receiving the navigation solution produced by the local strap-down navigation processor, the local Kalman filter further coupled to a master Kalman filter;

    wherein the local Kalman filter receives a first message from the master Kalman filter comprising a Precision Transfer Alignment Message (PTAM) that includes at least one navigation aid measurement;

    wherein the local Kalman filter inputs the navigation aid measurement into a measurement formation algorithm and calculates a measurement residual based on the navigation aid measurement;

    wherein the local Kalman filter receives a second message from the master Kalman filter comprising a Reset Transfer Alignment Message (RTAM) that includes a bias correction applied by the master Kalman filter as a navigation reset;

    wherein the local Kalman filter inputs the bias correction into a state propagation algorithm where the bias correction provided by the bias correction is added to a navigation state of the local Kalman filter and propagated.

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