Signals of opportunity aided inertial navigation
AssigneeThe Regents of the University of California
InventorsZak M. Kassas, Joshua J. Morales
Life of this patent
Estimating the term…
Abstract
A signal of opportunity (SOP)-aided inertial navigation system (INS) framework provides various technical solutions to technical problems facing GNSS implementations. A mobile receiver, whether handheld or vehicle-mounted, has access to Global Navigation Satellite System (GNSS) signals, multiple unknown terrestrial SOPs, and IMU measurements, which are used to estimate receiver states. When GNSS signals become unreliable, the mobile receiver continues to navigate using the SOP-aided INS. The SOP-aided INS produces bounded estimation errors in the absence of GNSS signals, and the bounds are dependent on the quantity and quality of exploited SOPs.
Claims20
A navigation system comprising:
- a global navigation satellite solution (GNSS) receiver to receive a plurality of GNSS signals from a plurality of GNSS satellites;
- an inertial navigation system (INS) to generate a plurality of INS measurements;
- a signal of opportunity (SOP) receiver to receive an SOP signal from at least one SOP transceiver station;
- and
- a processor to:
- determine a plurality of GNSS pseudorange measurements based on the received plurality of GNSS signals;
- determine an SOP pseudorange measurement based on the received SOP signal;
- and
- determine an estimated receiver position based on the plurality of INS measurements, the SOP pseudorange measurement, and the plurality of GNSS pseudorange measurements.
A navigation method comprising:
- receiving a plurality of GNSS signals from a plurality of GNSS satellites at a global navigation satellite solution (GNSS) receiver;
- receiving a plurality of inertial navigation system (INS) measurements from an INS;
- receiving an SOP signal from at least one SOP transceiver station at a signal of opportunity (SOP) receiver;
- determining a plurality of GNSS pseudorange measurements based on the received plurality of GNSS signals;
- determining an SOP pseudorange measurement based on the received SOP signal;
- and
- determining an estimated receiver position based on the plurality of GNSS pseudorange measurements, the plurality of INS measurements, and the SOP pseudorange measurement.
Dependencies are inferred from the claim text.