Method to improve leveling performance in navigation systems
US10444017B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 4, 2012 |
| Grant date | Oct 15, 2019 |
| Priority date | — |
| Expiry date | Jan 2, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/183
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An attitude estimator system is provided. The attitude estimator system includes a navigation system, a Kalman filter, and a form observations module. The navigation system receives input from a first accelerometer and gyroscope, a second accelerometer and gyroscope, and a third accelerometer and gyroscope. The form observations module receives input from at least one high performance accelerometer and/or gyroscope; forms and outputs at least one of velocity-derived observations and attitude-derived observations. The Kalman filter processes by at least one of: inputting the velocity-derived observations formed in the form observations module, rotating the velocity-derived observation into a sensor-frame, and zeroing gains associated with at least one low performance accelerometer and/or gyroscope; or inputting the attitude-derived observations that are based on output from at least one of the first high performance accelerometer, the first high performance gyroscope, and the second high performance accelerometer.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.