Motion-based adaptive frequency estimation of a doppler velocity sensor
First Claim
1. A system for motion-based adaptive frequency estimation of a Doppler sensor, the system comprising:
- a Doppler sensor configured to output a digitized Doppler data signal;
a Doppler velocity estimation module operatively coupled to the Doppler sensor to receive the Doppler data signal;
an inertial navigation system configured to receive data output from the Doppler velocity estimation module;
one or more inertial sensors operatively coupled to the inertial navigation system and configured to transmit inertial data to the inertial navigation system; and
a feedback loop directly between the inertial navigation system and the Doppler velocity estimation module;
wherein the Doppler velocity estimation module calculates a speed or velocity estimate based on the Doppler data signal and navigation data that is transmitted directly to the Doppler velocity estimation module from the inertial navigation system in the feedback loop;
wherein the speed or velocity estimate is transmitted directly to the inertial navigation system from the Doppler velocity estimation module as part of the feedback loop.
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Abstract
A system and method for motion-based adaptive frequency estimation of a Doppler sensor is provided. The system comprises a Doppler sensor configured to output a digitized Doppler data signal, and a Doppler velocity estimation module operatively coupled to the Doppler sensor to receive the Doppler data signal. An inertial navigation system is operatively coupled to the Doppler velocity estimation module, and one or more inertial sensors is operatively coupled to the inertial navigation system. The inertial sensors are configured to transmit inertial navigation data to the inertial navigation system. The Doppler velocity estimation module calculates a speed or velocity estimate based on the Doppler data signal and the inertial navigation data. The speed or velocity estimate is then transmitted to the inertial navigation system.
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Citations
20 Claims
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1. A system for motion-based adaptive frequency estimation of a Doppler sensor, the system comprising:
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a Doppler sensor configured to output a digitized Doppler data signal; a Doppler velocity estimation module operatively coupled to the Doppler sensor to receive the Doppler data signal; an inertial navigation system configured to receive data output from the Doppler velocity estimation module; one or more inertial sensors operatively coupled to the inertial navigation system and configured to transmit inertial data to the inertial navigation system; and a feedback loop directly between the inertial navigation system and the Doppler velocity estimation module; wherein the Doppler velocity estimation module calculates a speed or velocity estimate based on the Doppler data signal and navigation data that is transmitted directly to the Doppler velocity estimation module from the inertial navigation system in the feedback loop; wherein the speed or velocity estimate is transmitted directly to the inertial navigation system from the Doppler velocity estimation module as part of the feedback loop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for motion-based adaptive frequency estimation of a Doppler sensor, the method comprising:
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receiving a digitized Doppler data signal from the Doppler sensor in a Doppler velocity estimation module; transmitting inertial data from an inertial measurement unit to an inertial navigation system; transmitting inertial navigation data directly to the Doppler velocity estimation module from the inertial navigation system in a feedback loop; determining Doppler frequency estimation parameters based on the inertial navigation data; calculating a Doppler frequency estimate based on the Doppler data signal and the frequency estimation parameters; calculating an average speed or velocity estimate based on the Doppler frequency estimate; and transmitting the average speed or velocity estimate directly to the inertial navigation system from the Doppler velocity estimation module as part of the feedback loop. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A method for motion-based adaptive frequency estimation of a Doppler sensor, the method comprising:
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(a) obtaining velocity and acceleration data from an inertial navigation system; (b) determining whether the velocity and acceleration data is valid; (c) when the velocity and acceleration data is valid, selecting a data time region and directing the velocity and acceleration data directly to the Doppler velocity estimation module from the inertial navigation system in a feedback loop; (d) determining Doppler frequency estimation parameters based on the velocity and acceleration data; (e) determining whether the frequency estimation parameters are valid; (f) if the frequency estimation parameters are not valid, determining whether iterations are required; (g) if the iterations are required, returning to (c) to select another data time region and repeating (d) and (e); (h) if the frequency estimation parameters are valid, obtaining digitized Doppler data; (i) determining whether the Doppler data is valid; (j) if the Doppler data is valid, calculating a Doppler frequency estimate based on the Doppler data and the frequency estimation parameters; (k) determining whether the Doppler frequency estimate is valid; (l) if the Doppler frequency estimate is valid, calculating an average speed or velocity estimate based on the Doppler frequency estimate; and (m) transmitting the average speed or velocity estimate directly to the inertial navigation system from the Doppler velocity estimation module as part of the feedback loop. - View Dependent Claims (20)
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Specification