GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter
AssigneeNovAtel Inc.
InventorMichael Bobye
Life of this patent
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Abstract
A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments.
Claims20
An inertial navigation system (INS)/global navigation satellite system (GNSS) navigation system comprising
- a GNSS subsystem including a GNSS receiver and a GNSS antenna,
- an INS subsystem including an inertial measurement unit and an INS filter, and
- a relative yaw subsystem configured to calculate relative yaw values based on phase windup measurements of GNSS satellite signals received by the GNSS antenna, the relative yaw subsystem providing the relative yaw values to the INS subsystem
- the INS subsystem operating the INS filter to determine an updated attitude based on using inertial measurements of the inertial measurement unit and the relative yaw values as an observable of the updated attitude.
The INS/GNSS navigation system of 1, wherein
- the INS/GNSS navigation system time tags the inertial measurements and the relative yaw values, and
- the INS subsystem utilizes position and orientation related information associated with corresponding time tags.
An inertial navigation system (INS) subsystem of an INS/global navigation satellite system (GNSS) navigation system, the INS comprising:
- a relative yaw subsystem configured to calculate relative yaw values based on phase windup measurements of GNSS signals received at an antenna of the INS/GNSS navigation system;
- an inertial measurement unit (IMU) configured to read data associated with acceleration and orientation of the INS/GNSS navigation system, wherein the data is utilized to produce measurements that include at least an attitude of the INS/GNSS navigation system;
- and
- an INS filter configured to update the attitude of the INS/GNSS navigation system using the relative yaw values as observables.
A method, comprising:
- calculating, by a relative yaw subsystem of an inertial navigation system (INS) subsystem of an INS/global navigation satellite system (GNSS) navigation system, relative yaw values based on phase windup measurements of GNSS signals received at an antenna of the INS/GNSS navigation system;
- reading, by an inertial measurement unit (IMU), data associated with acceleration and orientation of the INS/GNSS navigation system, wherein the data is utilized to produce measurements that include at least an attitude of the INS/GNSS navigation system;
- and
- updating, by an INS filter, the attitude of the INS/GNSS navigation system using the relative yaw values as observables.
Dependencies are inferred from the claim text.