System and method for augmenting a satellite-based navigation solution
First Claim
1. A method of augmenting a navigation solution of a navigation system for a platform, comprising:
- within the navigation system, cyclically propagating a previous state for the platform into a current state for the platform over successive cycles, wherein the previous state includes any one or more of a previous position and a previous heading for the platform, and the current state includes any one or more of an initial position and an initial heading for the platform, and wherein at each cycle the resulting initial position and the initial heading become the previous position and the previous heading for a subsequent cycle;
wherein cyclically propagating within the navigation system includes;
processing satellite signals or dead-reckoning sensor signals to determine the current state from the previous state;
matching any one or more of the initial position and the initial heading from the current state to predetermined map data to determine any one or more of a map-matching feedback position and a map-matching feedback heading;
determining a relative accuracy between any one or more of the initial position and the initial heading and any one or more of the map-matching feedback position and the map-matching feedback heading; and
if the relative accuracy is within a limit, overwriting any one or more of the initial position and the initial heading with any one or more of the map-matching feedback position and the map-matching feedback heading based upon the relative accuracy to update the current state.
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Accused Products
Abstract
A map-matching feedback interface uses added information to bound a mapping solution and calibrate a navigation system, thus enabling the navigation system to navigate more accurately over a longer period of time. The system recognizes erroneous measurements and reduces or eliminates them from the mapping solution, thus preventing position inaccuracies. The system interfaces the navigation system with a mapping system that feeds back map-based data to the navigation system and combines the map-matching feedback data with other sensor data to produce an accurate navigation solution even in environments where GPS or dead reckoning input data is inaccurate.
60 Citations
24 Claims
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1. A method of augmenting a navigation solution of a navigation system for a platform, comprising:
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within the navigation system, cyclically propagating a previous state for the platform into a current state for the platform over successive cycles, wherein the previous state includes any one or more of a previous position and a previous heading for the platform, and the current state includes any one or more of an initial position and an initial heading for the platform, and wherein at each cycle the resulting initial position and the initial heading become the previous position and the previous heading for a subsequent cycle; wherein cyclically propagating within the navigation system includes; processing satellite signals or dead-reckoning sensor signals to determine the current state from the previous state; matching any one or more of the initial position and the initial heading from the current state to predetermined map data to determine any one or more of a map-matching feedback position and a map-matching feedback heading; determining a relative accuracy between any one or more of the initial position and the initial heading and any one or more of the map-matching feedback position and the map-matching feedback heading; and if the relative accuracy is within a limit, overwriting any one or more of the initial position and the initial heading with any one or more of the map-matching feedback position and the map-matching feedback heading based upon the relative accuracy to update the current state. - View Dependent Claims (2, 3, 5, 6, 7, 8, 9, 10)
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4. (canceled)
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11. A navigation system capable of augmenting a navigation solution, comprising:
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a mapping system for matching any one or more of an initial position and an initial heading to predetermined map data to determine any one or more of a map-matching feedback position and a map-matching feedback heading; a receiver for processing satellite signals or dead-reckoning sensor signals so as to cyclically propagate a previous state for a platform into a current state for the platform over successive cycles, wherein the previous state includes any one or more of a previous position and a previous heading for the platform, and the current state includes any one or more of an initial position and an initial heading for the platform, and wherein at each cycle the resulting initial position and the initial heading become the previous position and the previous heading for a subsequent cycle, the receiver adapted for determining a relative accuracy between any one or more of the initial position and the initial heading and any one or more of the map-matching feedback position and the map-matching feedback heading; the receiver further adapted for selectively overwriting any one or more of the initial position and the initial heading with any one or more of the map-matching feedback position and the map-matching feedback heading if the relative accuracy is within a limit. - View Dependent Claims (12, 13, 15, 16, 17, 18, 19, 20, 21, 22)
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14. (canceled)
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23. A navigation system capable of augmenting a navigation solution, comprising:
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means for determining any one or more of an initial position and an initial heading of a platform; means for matching any one or more of the initial position and the initial heading to predetermined map data to determine any one or more of a map-matching feedback position and a map-matching feedback heading; means for determining a relative accuracy between any one or more of the initial position and the initial heading and any one or more of the map-matching feedback position and the map-matching feedback heading; means for overwriting any one or more of the initial position and the initial heading with any one or more of the map-matching feedback position and the map-matching feedback heading based upon the relative accuracy; and means for propagating any one or more of the map-matching feedback position and the map-matching feedback heading as the initial position and the initial heading.
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24. (canceled)
Specification