Positioning refinement algorithm
US6292751A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Feb 8, 2000 |
| Grant date | Sep 18, 2001 |
| Priority date | — |
| Expiry date | Feb 8, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/188
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method is provided for correcting errors in position derived from an inertial measurement unit (IMU), by performing a first zero velocity update at a time when the IMU is at rest, recording the time and position of the IMU at a subsequent start of a period of interest after the first zero velocity update, recording the time and position of the IMU at the end of the period of interest, performing a second zero velocity update at the end of the period of interest with the IMU at rest, and then recording a velocity indicated from the IMU, and deriving an accumulated error in position from the recorded data, by approximating errors in velocity by a function of time with a parameter determined from the recorded indicated velocity, and integrating the function over the period of interest to determine the accumulated error in position during the period of interest.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.