Inertial navigation units, systems, and methods
First Claim
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1. An inertial navigation unit, comprising:
- a reference accelerometer operating in a first dynamic range and configured to generate specific force data;
a navigation accelerometer operating in a second dynamic range and configured to generate specific force data, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; and
at least one controller configured to;
(i) determine reference data based at least in part upon the specific force data generated by the reference accelerometer;
(ii) generate navigation data based at least in part upon the specific force data generated by the navigation accelerometer and at least one navigation routine; and
(iii) at least one of;
(a) validate at least a portion of the navigation data;
(b) validate at least a portion of the specific force data generated by the navigation accelerometer;
(c) modify at least a portion of the at least one navigation routine using at least a portion of the reference data;
(d) set at least one of the following;
bias data, error data, drift data, tilt data, or any combination thereof, used by the at least one navigation routine to generate navigation data;
or any combination thereof.
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Abstract
Navigation units, systems, and methods for use in the context of personal navigation, and associated methods for initialization, navigation, assistance, and correction, all in the field of inertial navigation and related applications. The inertial navigation units, systems, and methods of the invention utilize multiple accelerometers to gather specific force data for improvement of the initialization, navigation, assistance, or corrective processes.
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Citations
20 Claims
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1. An inertial navigation unit, comprising:
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a reference accelerometer operating in a first dynamic range and configured to generate specific force data; a navigation accelerometer operating in a second dynamic range and configured to generate specific force data, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; and at least one controller configured to; (i) determine reference data based at least in part upon the specific force data generated by the reference accelerometer; (ii) generate navigation data based at least in part upon the specific force data generated by the navigation accelerometer and at least one navigation routine; and (iii) at least one of;
(a) validate at least a portion of the navigation data;
(b) validate at least a portion of the specific force data generated by the navigation accelerometer;
(c) modify at least a portion of the at least one navigation routine using at least a portion of the reference data;
(d) set at least one of the following;
bias data, error data, drift data, tilt data, or any combination thereof, used by the at least one navigation routine to generate navigation data;
or any combination thereof. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An inertial navigation method, comprising:
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generating, by an inertial navigation unit, specific force data by a reference accelerometer operating in a first dynamic range; determining, by the inertial navigation unit, reference data based at least in part upon the specific force data generated by the reference accelerometer, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; generating, by the inertial navigation unit, navigation data based at least in part upon specific force data generated by a navigation accelerometer, which is operating in a second dynamic range, and at least one navigation routine; and at least one of;
(a) validating, by the inertial navigation unit, at least a portion of the navigation data;
(b) validating, by the inertial navigation unit, at least a portion of the specific force data generated by the navigation accelerometer;
(c) modifying, by the inertial navigation unit, at least a portion of the at least one navigation routine using at least a portion of the reference data;
(d) setting, by the inertial navigation unit, at least one of the following;
bias data, error data, drift data, tilt data, or any combination thereof, used by the at least one navigation routine to generate navigation data;
or any combination thereof.
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11. An inertial navigation unit, comprising:
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a reference accelerometer operating in a first dynamic range and configured to generate specific force data; a navigation accelerometer operating in a second dynamic range and configured to generate specific force data, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; and at least one controller configured to; (i) determine whether the navigation accelerometer is experiencing force within the first dynamic range; (ii) if the navigation accelerometer is experiencing force within the first dynamic range, determine reference data based at least in part upon the specific force data generated by the reference accelerometer; (iii) apply at least a portion of the reference data to at least one navigation routine; and (iv) generate navigation data based at least in part upon the at least one navigation routine. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of navigating using an inertial navigation unit, comprising:
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determining, by an inertial navigation unit, whether a navigation accelerometer, which operates in a second dynamic range, is experiencing force in a first dynamic range that is within the second dynamic range; and if the navigation accelerometer is experiencing force in the first dynamic range, determining, by the inertial navigation unit, reference data based at least in part upon the specific force data generated by a reference accelerometer, which operates in the first dynamic range, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; applying, by the inertial navigation unit, at least a portion of the reference data to at least one navigation routine; and generating, by the inertial navigation unit, navigation data based at least in part upon the at least one navigation routine.
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Specification