Tightly coupled trajectory predictor with constant up-finding
AssigneeHoneywell International Inc.
InventorsCalvin Samborski, Scott Snyder
Life of this patent
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Abstract
Systems and methods for a tightly coupled trajectory predictor with constant up-finding are provided. In certain embodiments, a system includes an inertial measurement unit that provides inertial measurements of a vehicle. The system also includes an up-finding sensor that provides up-finding measurements based on when a portion of the vehicle is pointing up. Further, the system includes one or more processors that bound errors from the inertial measurements in a navigation solution during navigation of the vehicle using the up-finding measurements.
Claims15
A system comprising:
- an inertial measurement unit that provides inertial measurements of a vehicle;
- an up-finding sensor that provides up-finding measurements based on when a portion of the vehicle is pointing up, wherein the up-finding sensor uses light to detect when the portion of the vehicle is facing a particular direction;
- and
- one or more processors configured to implement a model-based trajectory predictor, wherein the model-based trajectory predictor calculates trajectory predictions using at least one of the up-finding measurements and the inertial measurements as inputs;
- wherein the one or more processors are configured to implement an integrated navigation system that uses a count of a number of revolutions for the vehicle based on the detections of when the portion of the vehicle is pointing up from the up-finding sensor and the trajectory predictions from the model-based trajectory predictor to bound errors from the inertial measurements in an inertial navigation solution during navigation of the vehicle by comparing the count of the number revolutions against a number of estimated spins based on the inertial measurements.
A method comprising:
- receiving inertial measurements for motion of a vehicle;
- providing up-finding measurements based on detections of when a portion of the vehicle is facing a particular direction during the motion of the vehicle to a model-based trajectory predictor executed by a processor, wherein the model-based trajectory predictor calculates trajectory predictions using at least one of the up-finding measurements and the inertial measurements;
- calculating an integrated navigation solution for the vehicle using the inertial measurements, the trajectory predictions, and the up-finding measurements, wherein the up-finding measurements and the trajectory predictions provide a bound for errors in the inertial measurements;
- and
- using the navigation solution during navigation of the vehicle.
A system comprising:
- an inertial measurement unit that provides inertial measurements of a vehicle;
- an up-finding sensor that provides up-finding measurements based on when a portion of the vehicle is pointing up, wherein the up-finding sensor uses light to detect when a portion of the vehicle is facing a particular direction;
- and
- one or more processors configured to:
- implement a model-based trajectory predictor, wherein the model-based trajectory predictor calculates trajectory predictions using at least one of the up-finding measurements and the inertial measurements;
- and
- calculate an integrated navigation solution by determining a number of detected spins from the up-finding sensor and the trajectory predictions and bounding errors in the inertial measurements during navigation of the vehicle using the trajectory predictions by comparing the number of detected spins against a number of estimated spins based on the inertial measurements.
Dependencies are inferred from the claim text.