Inertial navigation units, systems, and methods

• US 8,903,677 B2
• Filed: 03/04/2011
• Issued: 12/02/2014
• Est. Priority Date: 03/04/2011
• Status: Active Grant

• Current Assignee: Mine Safety Appliances Company (MSA Safety, Inc.)
• Original Assignee: MSA Technology, LLC (MSA Safety, Inc.)
• Inventors: Miller, Paul Alan, Trautzsch, Thomas Andreas
• Primary Examiner(s): Nghiem, Michael
• Assistant Examiner(s): RABOVIANSKI, IVAN I
• Application Number:
  US13/040,370
• Publication Number:
  US 20120226467A1
• Time in Patent Office: 1,369 Days
• Field of Search: 702/141, 702/104, 702/41, 702/92, 702/94, 702/150, 702/151, 735/10, 735/140.1, 345/158
• US Class Current: 702/141
• CPC Class Codes: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems
• CPC Class Codes: G01C 22/006 Pedometers

Abstract

Navigation units, systems, and methods for use in the context of personal navigation, and associated methods for initialization, navigation, assistance, and correction, all in the field of inertial navigation and related applications. The inertial navigation units, systems, and methods of the invention utilize multiple accelerometers to gather specific force data for improvement of the initialization, navigation, assistance, or corrective processes.

Claims

1. An inertial navigation unit, comprising:

a reference accelerometer operating in a first dynamic range and configured to generate specific force data;

a navigation accelerometer operating in a second dynamic range and configured to generate specific force data, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; and

at least one controller configured to;

(i) determine reference data based at least in part upon the specific force data generated by the reference accelerometer;

(ii) generate navigation data based at least in part upon the specific force data generated by the navigation accelerometer and at least one navigation routine; and

(iii) at least one of;

(a) validate at least a portion of the navigation data;

(b) validate at least a portion of the specific force data generated by the navigation accelerometer;

(c) modify at least a portion of the at least one navigation routine using at least a portion of the reference data;

(d) set at least one of the following;

bias data, error data, drift data, tilt data, or any combination thereof, used by the at least one navigation routine to generate navigation data;

or any combination thereof.

2. The inertial navigation unit of claim 1, wherein the second dynamic range of the navigation accelerometer is greater than the first dynamic range of the reference accelerometer.

3. The inertial navigation unit of claim 2, wherein the first dynamic range of the reference accelerometer is from about −

2 g to about +2 g.

4. The inertial navigation unit of claim 2, wherein the second dynamic range of the navigation accelerometer is from about −

50 g to about +50 g.

5. The inertial navigation unit of claim 1, wherein the first dynamic range of the reference accelerometer is from about −

2 g to about +2 g.

6. The inertial navigation unit of claim 5, wherein the second dynamic range of the navigation accelerometer is from about −

50 g to about +50 g.

7. The inertial navigation unit of claim 1, wherein the second dynamic range of the navigation accelerometer is from about −

50 g to about +50 g.

8. The inertial navigation unit of claim 1, wherein each of the reference accelerometer and the navigation accelerometer comprises an accelerometer triad.

9. The inertial navigation unit of claim 1, wherein the reference accelerometer and the navigation accelerometer are rigidly positioned at least partially within a common housing, which includes an attachment arrangement configured to attach the housing to a user.

10. An inertial navigation method, comprising:

generating, by an inertial navigation unit, specific force data by a reference accelerometer operating in a first dynamic range;

determining, by the inertial navigation unit, reference data based at least in part upon the specific force data generated by the reference accelerometer, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times;

generating, by the inertial navigation unit, navigation data based at least in part upon specific force data generated by a navigation accelerometer, which is operating in a second dynamic range, and at least one navigation routine; and

at least one of;

(a) validating, by the inertial navigation unit, at least a portion of the navigation data;

(b) validating, by the inertial navigation unit, at least a portion of the specific force data generated by the navigation accelerometer;

(c) modifying, by the inertial navigation unit, at least a portion of the at least one navigation routine using at least a portion of the reference data;

(d) setting, by the inertial navigation unit, at least one of the following;

bias data, error data, drift data, tilt data, or any combination thereof, used by the at least one navigation routine to generate navigation data;

or any combination thereof.

11. An inertial navigation unit, comprising:

a reference accelerometer operating in a first dynamic range and configured to generate specific force data;

a navigation accelerometer operating in a second dynamic range and configured to generate specific force data, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times; and

at least one controller configured to;

(i) determine whether the navigation accelerometer is experiencing force within the first dynamic range;

(ii) if the navigation accelerometer is experiencing force within the first dynamic range, determine reference data based at least in part upon the specific force data generated by the reference accelerometer;

(iii) apply at least a portion of the reference data to at least one navigation routine; and

(iv) generate navigation data based at least in part upon the at least one navigation routine.

12. The inertial navigation unit of claim 11, wherein the second dynamic range of the navigation accelerometer is greater than the first dynamic range of the reference accelerometer.

13. The inertial navigation unit of claim 12, wherein the first dynamic range of the reference accelerometer is from about −

2 g to about +2 g.

14. The inertial navigation unit of claim 12, wherein the second dynamic range of the navigation accelerometer is from about −

50 g to about +50 g.

15. The inertial navigation unit of claim 11, wherein the first dynamic range of the reference accelerometer is from about −

2 g to about +2 g.

16. The inertial navigation unit of claim 15, wherein the second dynamic range of the navigation accelerometer is from about −

50 g to about +50 g.

17. The inertial navigation unit of claim 11, wherein the second dynamic range of the navigation accelerometer is from about −

50 g to about +50 g.

18. The inertial navigation unit of claim 11, wherein each of the reference accelerometer and the navigation accelerometer comprises an accelerometer triad.

19. The inertial navigation unit of claim 11, wherein the at least one controller is further configured to determine when to generate navigation data using the reference data of the reference accelerometer.

20. A method of navigating using an inertial navigation unit, comprising:

determining, by an inertial navigation unit, whether a navigation accelerometer, which operates in a second dynamic range, is experiencing force in a first dynamic range that is within the second dynamic range; and

if the navigation accelerometer is experiencing force in the first dynamic range, determining, by the inertial navigation unit, reference data based at least in part upon the specific force data generated by a reference accelerometer, which operates in the first dynamic range, wherein the reference accelerometer and the navigation accelerometer are rigidly fixed with respect to each other at all times, such that the reference accelerometer and the navigation accelerometer are subject to the same specific force at all times;

applying, by the inertial navigation unit, at least a portion of the reference data to at least one navigation routine; and

generating, by the inertial navigation unit, navigation data based at least in part upon the at least one navigation routine.