Heading inconsistency mitigation for inertial navigation using low-performance inertial measurement units with relative aiding
US10502573B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 9, 2018 |
| Grant date | Dec 10, 2019 |
| Priority date | — |
| Expiry date | Mar 3, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/206
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided. The method includes inputting inertial measurements from at least one low-performance inertial measurement unit (IMU) in the inertial navigation system; inputting an initial-heading from at least one heading-information source; inputting an initial-heading uncertainty level associated with an error in the inputted initial-heading; initializing an initial-heading estimate with the inputted initial-heading; initializing an initial-heading uncertainty estimate with the inputted initial-heading uncertainty level; initializing an accumulated heading-change estimate to zero at a startup of the at least one low-performance IMU; and initializing an accumulated heading-change uncertainty estimate with an initial accumulated heading-change uncertainty level that is a value less than the inputted initial-heading uncertainty level; and periodically updating the accumulated heading-change estimate with the inertial measurements input from the at least one low-performance IMU.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.