Pedal navigation using leo signals and body-mounted sensors

A pedal navigation system comprising:

• at least one sensor mountable on a pedal subject and operable to generate one or more outputs useful in computing successive dead reckoning data including at least one of position data, velocity data, acceleration data, angular rate data, rotational angle data, and attitude data;
• a navigation radio couplable to the sensor, the navigation radio comprising:
• an RF antenna operable to receive RF signals from one or more LEO satellites;
• an RF front end operable to downconvert and digitize the RF signals;
• a digital processor operable to derive successive range observables from the downcoverted RF signals for the one or more LEO satellites;
• a navigation code stored in media and including instructions executable on the digital processor to compute a navigation solution including an absolute position solution based on the computed successive dead reckoning data, the derived successive range observables, and ephemerides for the one or more LEO satellites.

A pedal navigation system comprising:

• a navigation radio;
• a sensor mounted to a pedal subject and coupled to the navigation radio, the sensor operable to generate one or more outputs useful in computing successive dead reckoning data including at least one of positional data, velocity data, acceleration data, angular rate data, rotational angle data, orientation data, and attitude data;
• an RF antenna electrically coupled to the navigation radio and operable to receive RF signals from one or more moving overhead assets;
• an RF front end operable to downconvert and digitize the RF signals to produce digital IF signals;
• a digital processor operable to compute successive dead reckoning solutions based on the successive dead reckoning data, and to compute successive range observables from the digital IF signals for the one or more moving overhead assets at a frequency substantially corresponding to the computation of the successive dead reckoning solutions and wherein the one or more moving overhead assets is travelling so as to generate appreciable geometric variation in the successive range observables;
• a navigation code stored in media and including instructions executable on the digital processor to calculate a navigation solution including an absolute position solution based on the successive dead reckoning solutions and the successive range observables.

A pedal navigation method comprising:

• calculating successive positional dead reckoning solutions based on successively sampled positional dead reckoning data including at least one of velocity data, acceleration data, angular rate data, rotational angle data, orientation data, and attitude data based on output from one or more sensors generated during pedal motion;
• receiving, at an RF antenna coupled to a navigation radio, RF signals broadcast from one or more overhead assets;
• deriving successive range observables for the corresponding one or more overhead assets based on the received RF signals, wherein the one or more overhead assets is travelling so as to generate appreciable geometric variation relative to the RF antenna in the successive range observables;
• and
• computing a navigation solution including an absolute position based on the successive calculated positional dead reckoning solutions and the derived successive range observables.