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Navigation system for a vehicle, especially a land craft

  • US 6,205,401 B1
  • Filed: 03/19/1998
  • Issued: 03/20/2001
  • Est. Priority Date: 09/19/1995
  • Status: Expired due to Term
First Claim
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1. In a navigation system for a vehicle of the type having at least one single-axis gyro for the vehicle vertical axis z, and x and y axis accelerometers in the horizontal vehicle plane, a vehicle-fixed velocity measurement device and an augmentation device, especially at least one of satellite navigation receiver or a map device, for augmenting position or velocity of the vehicle or both and a controller for correcting at least one of the calculated vehicle position and direction of travel via a suitable Kalman filter using measured signals supplied from said augmentation device comprising, in combination:

  • a) a Kalman filter partitioned into at least a first partial filter for dynamic levelling; and

    b) and a second partial filter designated as a position filter for providing track calibration, position calibration and sensor calibration.

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