Inertial navigation system for mobile objects with constraints
US6826478B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 11, 2003 |
| Grant date | Nov 30, 2004 |
| Priority date | — |
| Expiry date | Apr 11, 2023 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB61L2205/04
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
An aided inertial navigation system and method for navigating a mobile object having constraints comprising an inertial measurement unit, a processor, and an error correction device. The inertial measurement unit provides acceleration data and/or angular velocity data of the mobile object. The processor is adapted to receive the acceleration data and/or angular velocity data, and to provide output data with position output indicative of position of the mobile object. The error correction device receives as input, state and dynamics information and auxiliary input data including map information associated with the path, speed data, wheel-angle data and discrete data. The error correction device provides as output, state corrections to the processor that enhance accuracy of the position output. The state corrections are used by the processor to estimate position of the mobile object based on the constraints to the mobile object and the map information associated with the path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.