Method and system for calibrating an IG/GP navigational system
First Claim
1. A method of calibrating acceleration data signals from a set of accelerometers, and angular rate data signals from a set of gyroscopes within a combined GPS/IGS, comprising:
- generating navigation data as a function of the acceleration data signals, the angular rate data signals, and prior navigation data;
combining the navigation data with GPS data via a Kalman filter, so as to produce corrected navigation data, navigation correction data, acceleration correction data and angular rate correction data;
modifying the acceleration data signals as a function of the acceleration correction data so as to calibrate the acceleration data signals, and modifying the angular rate data signals as a function of the angular rate correction data, so as to calibrate the angular data signals.
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Abstract
A method of calibrating acceleration data signals from a set of accelerometers, and angular rate data signals from a set of gyroscopes within a combined GPS/IGS includes generating navigation data as a function of the acceleration data signals, the angular rate data signals, and prior navigation data. The method further includes combining the navigation data with GPS data via a Kalman filter, so as to produce corrected navigation data, navigation correction data, acceleration correction data and angular rate correction data. The method further includes modifying the acceleration data signals as a function of the acceleration correction data so as to calibrate the acceleration data signals, and modifying the angular rate data signals as a function of the angular rate correction data, so as to calibrate the angular data signals.
95 Citations
44 Claims
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1. A method of calibrating acceleration data signals from a set of accelerometers, and angular rate data signals from a set of gyroscopes within a combined GPS/IGS, comprising:
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generating navigation data as a function of the acceleration data signals, the angular rate data signals, and prior navigation data;
combining the navigation data with GPS data via a Kalman filter, so as to produce corrected navigation data, navigation correction data, acceleration correction data and angular rate correction data;
modifying the acceleration data signals as a function of the acceleration correction data so as to calibrate the acceleration data signals, and modifying the angular rate data signals as a function of the angular rate correction data, so as to calibrate the angular data signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A system for calibrating acceleration data signals from a set of accelerometers, and angular rate data signals from a set of gyroscopes within a combined GPS/IGS, comprising:
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a navigation unit for generating navigation data as a function of the acceleration data signals, the angular rate data signals, and prior navigation data;
a Kalman filter for combining the navigation data with GPS data, so as to produce corrected navigation data, navigation correction data, acceleration correction data and angular rate correction data;
a compensator for modifying the acceleration data signals as a function of the acceleration correction data so as to calibrate the acceleration data signals, and modifying the angular rate data signals as a function of the angular rate correction data, so as to calibrate the angular data signals. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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44. A system for calibrating acceleration data signals from a set of accelerometers, and angular rate data signals from a set of gyroscopes within a combined GPS/IGS, comprising:
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means for generating navigation data as a function of the acceleration data signals, the angular rate data signals, and prior navigation data;
means for combining the navigation data with GPS data, so as to produce corrected navigation data, navigation correction data, acceleration correction data and angular rate correction data;
means for modifying the acceleration data signals as a function of the acceleration correction data so as to calibrate the acceleration data signals, and for modifying the angular rate data signals as a function of the angular rate correction data, so as to calibrate the angular data signals.
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Specification