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Smoothed navigation solution using filtered resets

  • US 9,625,262 B2
  • Filed: 10/25/2012
  • Issued: 04/18/2017
  • Est. Priority Date: 10/25/2012
  • Status: Active Grant
First Claim
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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.

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