Inertial navigation system for mobile objects with constraints

An aided inertial navigation system (AINS) for navigating a mobile object, said AINS comprising:

• an inertial measurement unit adapted to provide acceleration data and angular velocity data of said mobile object, said mobile object having constraints which constrain mobility of said mobile object to a path;
• a processor adapted to receive said acceleration data and angular velocity data from said inertial measurement unit, and to provide a plurality of output data for navigating said mobile object, said plurality of output data with position output indicative of position of said mobile object;
• and
• an error correction device adapted to:
• receive as input, state and dynamics information of said mobile object and auxiliary input data including at least one of positional input data, map information associated with said path, speed data, wheel angle data and discrete data;
• and
• provide as output, state corrections to said processor, said state corrections being determined based on said auxiliary input data;
• wherein said processor enhances accuracy of said position output indicative of position of said mobile object based on said state corrections and said constraints to said mobile object.

An aided inertial navigation system (AINS) for navigating a mobile object, said AINS comprising:

• an inertial measurement unit adapted to provide acceleration data and angular velocity data of said mobile object;
• a processor adapted to receive said acceleration data and angular velocity data from said inertial measurement unit, and to provide output data having position output indicative of position of said mobile object;
• and
• a Kalman filter adapted to receive as input, state and dynamics information of said mobile object, and provide as output, state corrections to said processor, said Kalman filter being provided with zero-azimuth-change observations when said mobile object is stationary;
• wherein said processor enhances said position output based on said state corrections to increase accuracy of said position output.

A method for navigating a mobile object comprising the steps of:

• constraining mobility of said mobile object to a path;
• monitoring acceleration and angular velocity of said mobile object;
• providing acceleration data and angular velocity data;
• determining output data having at least position output indicative of position of said mobile object based on said acceleration data and angular velocity data;
• and
• enhancing accuracy of said position output indicative of position of said mobile object based on said constraints to mobility of said mobile object.

A method for navigating a mobile object comprising the steps of:

• constraining mobility of said mobile object to a path;
• providing map information associated with said path;
• monitoring acceleration and angular velocity of said mobile object;
• providing acceleration data and angular velocity data;
• determining output data with position output indicative of position of said mobile object based on said acceleration data and angular velocity data for navigating said mobile object;
• and
• enhancing accuracy of said position output based on constraints to mobility of said mobile object and said map information associated with said path.

A method for navigating a mobile object comprising the steps of:

• monitoring acceleration and angular velocity of said mobile object and providing acceleration data and angular velocity data;
• determining output data with position output indicative of position of said mobile object for navigating said mobile object based on said acceleration data and angular velocity data;
• providing a Kalman filter adapted to receive as input, state and dynamics information of said mobile object, and providing state corrections as outputs;
• and
• providing said Kalman filter with zero-azimuth-change observations when said mobile object is stationary to enhance accuracy of said position output indicative of position of said mobile object.