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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
First Claim
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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.

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