Multiple-model navigation filter with hybrid positioning

Abstract

A positioning system including a measurement engine, a model selector and model bank, and a filter, which is preferably a statistical filter. The measurement engine is responsive to information provided by a source of range information, from which a measurement of the state of motion of an object (including for example the position of the object) can be determined, and provides a succession of measurements of the state, each corresponding to a different instant of time. The model selector and model bank selects at least one motion model for use in estimating the state for a segment of the motion of the object. The filter is responsive to the succession of measurements of the state, and further responsive to a model mixing parameter and to the selected motion models. It determines a succession of multiple-model state estimates, preferably according to the so-called interacting multiple-model.

Dependencies are inferred from the claim text.