Estimation of N-dimensional parameters while sensing fewer than N dimensions
First Claim
1. A navigational system, the system comprising:
- at least one processor;
an inertial measurement unit (IMU) that measures a trajectory and provides an output to the at least one processor, the at least one processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter; and
at most two velocity sensors that provide an output to the at least one processor, wherein the at most two velocity sensors measure velocity in at most two dimensions, wherein the at least one processor computes an estimate of an n-dimensional parameter from the output of the at most two velocity sensors for bounding errors in the n-dimensional parameter as calculated by the at least one processor when the trajectory measured by the IMU causes the at most two velocity sensors to measure motion through n dimensions, wherein “
n”
is greater than the number of dimensions measured simultaneously by the at most two velocity sensors.
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Abstract
Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors.
14 Citations
20 Claims
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1. A navigational system, the system comprising:
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at least one processor; an inertial measurement unit (IMU) that measures a trajectory and provides an output to the at least one processor, the at least one processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter; and at most two velocity sensors that provide an output to the at least one processor, wherein the at most two velocity sensors measure velocity in at most two dimensions, wherein the at least one processor computes an estimate of an n-dimensional parameter from the output of the at most two velocity sensors for bounding errors in the n-dimensional parameter as calculated by the at least one processor when the trajectory measured by the IMU causes the at most two velocity sensors to measure motion through n dimensions, wherein “
n”
is greater than the number of dimensions measured simultaneously by the at most two velocity sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for bounding motion errors, the method comprising:
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calculating a navigation solution for a platform based on measurements from an IMU; receiving a measurement from at most two velocity sensors, wherein the at most two velocity sensors are used to provide an estimated velocity parameter in less than n dimensions, wherein “
n”
is greater than the number of dimensions measured simultaneously by the at most two velocity sensors;calculating an estimate of accumulated error for a motion parameter in n dimensions based on the estimated velocity parameter when a trajectory of platform motion causes the at most two velocity sensors to measure motion through n dimensions; and correcting the motion parameter in n dimensions based on the estimate of accumulated error. - View Dependent Claims (11, 12, 13, 14)
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15. A system for tracking movement, the system comprising
at least one navigation system, wherein the at least one navigation system comprises: -
at least one processor; an inertial measurement unit (IMU) coupled to the at least one processor, the at least one processor providing a navigation solution for a platform based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional motion parameter; a sensor configured to measure a motion parameter in at most two dimensions, wherein the at least one processor is further configured to receive the motion parameter from the sensor and provide an estimate of the n-dimensional motion parameter for use in bounding the error of the n-dimensional motion parameter as calculated by the at least one processor when the trajectory measured by the IMU satisfies movement requirements, wherein the estimate is based on the motion parameter and n is greater than the dimensions measured by the sensor; and a transmitter configured to transmit the navigation solution; and a base station that receives navigation solutions from the at least one navigation system. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification