Smoothed navigation solution using filtered resets
First Claim
1. A navigation system comprising:
- at least one inertial sensor configured to detect motion of the system and generate inertial data;
at least one aiding device configured to generate aiding device measurement data;
at least one processing unit configured to generate an un-smoothed navigation solution based on the inertial data and the aiding device measurement data, the un-smoothed navigation solution inclusive of state variable error resets for a state variable;
wherein the at least one processing unit is further configured to sum the state variable error resets for the state variable into a cumulative sum of the state variable error resets for the state variable;
wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets for the state variable;
wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution; and
wherein the at least one processing unit is configured to provide the smoothed navigation solution to at least one of;
an autopilot system configured to use the smoothed navigation solution to smooth out a response of the autopilot system to changes in the navigation solution;
a global navigation satellite system (GNSS) receiver configured to use the smoothed navigation solution to help steer the GNSS receiver to better track GNSS signals; and
a seeker configured to use the smoothed navigation solution to control where the seeker is pointed.
1 Assignment
0 Petitions
Accused Products
Abstract
A navigation system includes at least one inertial sensor configured to detect motion of the system and generate inertial data; at least one aiding device configured to generate aiding device measurement data; at least one processing unit configured to generate an un-smoothed navigation solution inclusive of navigation state variable error resets based on the inertial data and the aiding device measurement data; wherein the at least one processing unit is further configured to sum the state variable error resets into a cumulative sum of the state variable error resets; wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets; and wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets from the un-smoothed navigation solution to generate a smoothed navigation solution.
25 Citations
20 Claims
-
1. A navigation system comprising:
-
at least one inertial sensor configured to detect motion of the system and generate inertial data; at least one aiding device configured to generate aiding device measurement data; at least one processing unit configured to generate an un-smoothed navigation solution based on the inertial data and the aiding device measurement data, the un-smoothed navigation solution inclusive of state variable error resets for a state variable; wherein the at least one processing unit is further configured to sum the state variable error resets for the state variable into a cumulative sum of the state variable error resets for the state variable; wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets for the state variable; wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution; and wherein the at least one processing unit is configured to provide the smoothed navigation solution to at least one of; an autopilot system configured to use the smoothed navigation solution to smooth out a response of the autopilot system to changes in the navigation solution; a global navigation satellite system (GNSS) receiver configured to use the smoothed navigation solution to help steer the GNSS receiver to better track GNSS signals; and a seeker configured to use the smoothed navigation solution to control where the seeker is pointed. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A method of generating a smoothed navigation solution for a vehicle comprising:
-
generating state variable error resets for a state variable based on aiding device measurement data provided by an aiding device and inertial data provided by an inertial device onboard a vehicle using at least one processing unit onboard the vehicle; determining an un-smoothed navigation solution inclusive of the state variable error resets for the state variable using the at least one processing unit onboard the vehicle; summing the state variable error resets for the state variable into a cumulative sum of the state variable error resets for the state variable using the at least one processing unit onboard the vehicle; high pass filtering the cumulative sum of the state variable error resets for the state variable using the at least one processing unit onboard the vehicle; and subtracting the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution using the at least one processing unit onboard the vehicle; and providing the smoothed navigation solution to at least one of; an autopilot system configured to use the smoothed navigation solution to smooth out a response of the autopilot system to changes in the navigation solution; a global navigation satellite (GNSS) receiver configured to use the smoothed navigation solution to help steer the GNSS receiver to better track GNSS signals; and a seeker configured to use the smoothed navigation solution to control where the seeker is pointed. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
-
15. A navigation system comprising:
-
at least one inertial sensor configured to detect motion of the system and generate inertial data based on the detected motion of the system; at least one aiding device configured to supply aiding device measurement data based on at least one of a position, a location, a velocity, a heading, and an orientation of the system; at least one Kalman filter configured to generate state variable error resets for a state variable based on error measurements between the aiding device measurement data supplied by the aiding device and a previously calculated un-smoothed navigation solution; at least one navigator configured to receive inertial data from the at least one inertial sensor and the state variable error resets for the state variable from the at least one Kalman filter, the at least one navigator further configured to calculate an un-smoothed navigation solution based on the inertial data and the state variable error resets, the un-smoothed navigation solution inclusive of the state variable error resets for the state variable; wherein the un-smoothed navigation solution is fed back as the previously calculated un-smoothed navigation solution; a state variable error reset summer configured to receive the state variable error resets for the state variable and to sum the state variable error resets for the state variable into a cumulative sum of state variable error resets for the state variable; a high pass filter configured to high pass filter the cumulative sum of state variable error resets for the state variable; and a first summer configured to subtract the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution; and wherein the at least one processing unit is configured to provide the smoothed navigation solution to at least one of; an autopilot system configured to use the smoothed navigation solution to smooth out a response of the autopilot system to changes in the navigation solution; a global navigation satellite (GNSS) receiver configured to use the smoothed navigation solution to help steer the GNSS receiver to better track GNSS signals; and a seeker configured to use the smoothed navigation solution to control where the seeker is pointed. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification