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US 7,248,967 B2Granted
Autonomous velocity estimation and navigation
AssigneeSaab AB
InventorAnders Hagstedt
Life of this patent
Estimating the term…
Abstract
Measurement of a spatial velocity vector in order to make determination of a geographical position possible. A spatial velocity meter includes an inertial measurement unit, a direction-sensing module and a velocity processor. The inertial measurement unit registers acceleration parameters and angular velocity parameters in three dimensions. The direction-sensing module registers a natural reference signal. The velocity processor receives the acceleration parameters, the angular velocity parameters and the natural reference signal, and based thereon, generates the spatial velocity vector.
Claims19
A spatial velocity meter adapted to be mounted on a craft, the spatial velocity meter comprising:
- an inertial measurement unit adapted to register acceleration parameters and angular velocity parameters in three dimensions;
- a direction-sensing module adapted to register a natural reference signal;
- and
- a velocity processor adapted to receive the acceleration parameters, receive the angular velocity parameters, receive the natural reference signal, and generate a velocity vector of the craft in relation to the earth based at least on the acceleration parameters, the angular velocity, the natural reference signal, and a main velocity component of the craft being aligned with a longitudinal axis of the craft.
1 more element
A navigation arrangement for determining a geographical position of a craft, the navigation arrangement comprising:
- a spatial velocity meter adapted to be mounted on the craft and comprising an inertial measurement unit adapted to register acceleration parameters and angular velocity parameters in three dimensions, a direction-sensing module adapted to register a natural reference signal, and a velocity processor adapted to receive the acceleration parameters, receive the angular velocity parameters, receive the natural reference signal, and generate a velocity vector of the craft in relation to the earth based at least on the acceleration parameters, the angular velocity, the natural reference signal, and a main velocity component of the craft being aligned with a longitudinal axis of the craft;
- and
- an integrator module adapted to receive an initial position coordinate, receive the velocity vector from the spatial velocity meter, and based thereon, generate an updated position coordinate.
A method for spatial velocity estimation of a craft, the method comprising:
- registering acceleration parameters and angular velocity parameters of the craft in three dimensions;
- registering a natural reference signal;
- determining a velocity vector for the craft in relation to the earth based on the acceleration parameters, the angular velocity parameters, the natural reference signal, and a main velocity component of the craft being aligned with a longitudinal axis of the craft and
- determining an updated position of the craft based on the natural reference signal and the velocity vector.
1 more element
A computer program product, comprising:
- a computer readable medium;
- and
- computer program instructions recorded on the computer readable medium and executable by a processor for carrying out the steps of
- registering acceleration parameters and angular velocity parameters of a craft in three dimensions;
- registering a natural reference signal;
- determining a velocity vector for the craft in relation to the earth based on the acceleration parameters, the angular velocity parameters, the natural reference signal, and a main velocity component of the craft being aligned with a longitudinal axis of the craft;
- and
- determining an updated position of the craft based on the natural reference signal and the velocity vector.
5 more elements
A navigation method for navigating a craft, the method comprising:
- receiving an initial position coordinate for the craft;
- registering acceleration parameters and angular velocity parameters in three dimensions for the craft;
- estimating a spatial velocity for the craft in relation to the earth based on at least the acceleration and the angular velocity parameters;
- and
- determining an updated position coordinate for the craft based on the initial position coordinate and an integration of the velocity vector, comprising estimating the spatial velocity by registering a natural reference signal and determining a velocity vector for the craft in relation to the earth based on the acceleration parameters, the angular velocity parameters, the natural reference signal, and a main velocity component of the craft being aligned with a longitudinal axis of the craft, and determining an updated position of the craft based on the natural reference signal and the velocity vector.
2 more elements
A computer program product, comprising:
- a computer readable medium;
- computer program instructions recorded on the computer readable medium and executable by a process for carrying out the steps of
- receiving an initial position coordinate for the craft;
- registering acceleration parameters and angular velocity parameters in three dimensions for the craft;
- estimating a spatial velocity for the craft in relation to the earth based on at least the acceleration and the angular velocity parameters;
- and
- determining an updated position coordinate for the craft based on the initial position coordinate and an integration of the velocity vector, comprising estimating the spatial velocity by registering a natural reference signal and determining a velocity vector for the craft in relation to the earth based on the acceleration parameters, the angular velocity parameters, the natural reference signal, and a main velocity component of the craft being aligned with a longitudinal axis of the craft, and determining an updated position of the craft based on the natural reference signal and the velocity vector.
4 more elements
Dependencies are inferred from the claim text.