Heading inconsistency mitigation for inertial navigation using low-performance inertial measurement units with relative aiding

• US 9,909,877 B2
• Filed: 06/06/2016
• Issued: 03/06/2018
• Est. Priority Date: 06/06/2016
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Ingvalson, Ryan, Elgersma, Michael Ray, Bageshwar, Vibhor L.
• Primary Examiner(s): Sweeney, Brian P
• Application Number:
  US15/174,207
• Publication Number:
  US 20170350704A1
• Time in Patent Office: 638 Days
• Field of Search: 701500
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided. The method includes inputting inertial measurements from at least one low-performance inertial measurement unit (IMU) in the inertial navigation system; inputting an initial-heading from at least one heading-information source; inputting an initial-heading uncertainty level associated with an error in the inputted initial-heading; initializing an initial-heading estimate with the inputted initial-heading; initializing an initial-heading uncertainty estimate with the inputted initial-heading uncertainty level; initializing an accumulated heading-change estimate to zero at a startup of the at least one low-performance IMU; and initializing an accumulated heading-change uncertainty estimate with an initial accumulated heading-change uncertainty level that is a value less than the inputted initial-heading uncertainty level; and periodically updating the accumulated heading-change estimate with the inertial measurements input from the at least one low-performance IMU.

Claims

1. A method of mitigating filter inconsistency of a heading estimate in an inertial navigation, the method comprising:

inputting inertial measurements from at least one inertial measurement unit (IMU) in the inertial navigation system;

inputting an initial-heading from at least one heading-information source;

inputting an initial-heading uncertainty level associated with an error in the inputted initial-heading;

initializing an initial-heading estimate with the inputted initial-heading;

initializing an initial-heading uncertainty estimate with the inputted initial-heading uncertainty level;

initializing an accumulated heading-change estimate to zero at a startup of the at least one IMU;

initializing an accumulated heading-change uncertainty estimate with an initial accumulated heading-change uncertainty level that is a value less than the inputted initial-heading uncertainty level; and

periodically updating the accumulated heading-change estimate with the inertial measurements input from the at least one IMU.

2. The method of claim 1, further comprising:

inputting at least one measurement from at least one relative aiding sensor, which is unable to directly sense the initial-heading; and

updating the navigation filter with the at least one relative aiding measurement inputted from at least one relative aiding sensor.

3. The method of claim 1, further comprising:

estimating a joint probability density function (PDF) of a position, a velocity, an attitude, and a heading of the inertial navigation system.

4. The method of claim 3, further comprising:

generating the heading estimate and a heading uncertainty estimate from the estimated joint PDF, which includes the initial-heading estimate, the initial-heading uncertainty estimate, the accumulated heading-change estimate, and the accumulated heading-change uncertainty estimate.

5. The method of claim 1, further comprising:

initializing a heading component of an uncertainty estimate in an Earth-to-Local-Vertical transformation with the initial-heading uncertainty level; and

initializing a heading component of an uncertainty estimate in a Body-to-Local-Vertical transformation with the initial accumulated heading-change uncertainty level, which is the value less than the initial-heading uncertainty level.

6. The method of claim 5, further comprising:

initializing a Local-Vertical frame so a wander angle is equal to the initial-heading angle; and

initializing the heading component of the Body-to-Local-Vertical transformation with a value of zero.

7. The method of claim 1, further comprising:

estimating an initial-heading error using a first filter error state; and

estimating an accumulated heading-change error using a second filter error state;

wherein the first error state is an independent and distinct error state from the second filter error state.

8. The method of claim 1, wherein inputting inertial measurements from the at least one IMU in the inertial navigation system comprises:

inputting inertial measurements from at least one IMU in a strapdown inertial navigation system, the method further comprising;

inputting at least one measurement from at least one relative aiding sensor, which is unable to directly sense the initial-heading.

9. An inertial navigation system with mitigated heading inconsistency, the system comprising:

at least one processor to execute algorithms in a strapdown navigation module and in a navigation filter to;

estimate an initial-heading error using a state that is independent of an estimated error in an accumulated heading-change since a startup of at least one inertial measurement unit (IMU) in the inertial navigation system;

estimate an initial-heading error using a first filter error state;

estimate an accumulated heading-change error using a second filter error state;

wherein the first error state is an independent and distinct error state from the second filter error state; and

ensure the first error state and the second error state directly correspond to navigation quantities explicitly computed in the inertial navigation system; and

the at least one IMU to input inertial measurement to the strapdown navigation module;

at least one relative aiding sensor to input at least one measurement of navigation data to the navigation filter, wherein the at least one relative aiding sensor is unable to directly sense the initial-heading.

10. The inertial navigation system of claim 9, wherein the strapdown navigation module includes:

an initial-heading estimate module; and

an accumulated heading-change module, wherein the strapdown navigation module is configured to input an initial heading and wherein the accumulated heading-change module is configured to initialize an accumulated heading-change estimate to zero at a startup of the at least one IMU.

11. The inertial navigation system of claim 9, wherein the navigation filter includes:

a local-vertical frame in which an wander angle is initialized with an initial-heading angle.

12. The inertial navigation system of claim 9, wherein the navigation filter includes:

an initial-heading uncertainty estimate module;

an accumulated heading-change uncertainty estimate module; and

a joint probability density function (PDF) module.

13. The inertial navigation system of claim 12, wherein the navigation filter is configured to input an initial-heading uncertainty level, and wherein the accumulated heading-change uncertainty estimate module is configured to input an initial accumulated heading-change uncertainty level that is less than the initial-heading uncertainty level.

14. The inertial navigation system of claim 9, wherein the at least one processor to execute algorithms in the strapdown navigation module and the navigation filter is further configured to execute algorithms in the strapdown navigation module and the navigation filter to:

initialize a heading component of an uncertainty estimate in an Earth-to-Local-Vertical transformation with an initial-heading uncertainty level; and

initialize a heading component of an uncertainty estimate in a Body-to-Local-Vertical transformation with a value less than the initial-heading uncertainty level.

15. The inertial navigation system of claim 9, wherein the at least one processor to execute algorithms in the strapdown navigation module and the navigation filter is further configured to

assign an initial-heading uncertainty level to a third component of an ε

-vector; and

assign a value that is less than the initial-heading uncertainty level to a third component of a γ

-vector.