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公开(公告)号：EP2549230A2
公开(公告)日：2013-01-23
申请号：EP12166908.9
申请日：2012-05-04
发明人： Snyder, Scott , Mohr, Benjamin
CPC分类号： G01C21/165 , G01C25/005 , G01S19/49
摘要： An example embodiment includes a method for initializing a navigation system. The method includes receiving inertial measurement data from an inertial measurement unit over time and storing the inertial measurement data in a buffer with an indication of a time of validity for the inertial measurement data. The method also includes receiving navigation data from an aiding source, the navigation data having a time of validity, and initializing a navigation solution with the navigation data. The method also includes summing inertial measurement data from the buffer to produce an inertial motion estimate for a time increment after the time of validity of the navigation data, applying at least one of coning or sculling compensation to the inertial motion estimate to produce a compensated inertial motion estimate, and propagating the navigation solution forward based on the compensated inertial motion estimate.
摘要翻译： 示例性实施例包括用于初始化导航系统的方法。 该方法包括：随时间从惯性测量单元接收惯性测量数据，并将惯性测量数据存储在具有惯性测量数据的有效时间指示的缓冲器中。 该方法还包括从辅助源接收导航数据，导航数据具有有效时间，以及使用导航数据初始化导航解决方案。 该方法还包括对来自缓冲器的惯性测量数据求和，以在导航数据的有效时间之后产生用于时间增量的惯性运动估计，对惯性运动估计应用至少一个锥形或平移补偿以产生补偿惯性 运动估计，并基于补偿的惯性运动估计向前传播导航解。
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2.发明授权Systems and methods to incorporate master navigation system resets during transfer alignment 有权系统和主导航系统的背部位置的集成方法，而转移位置
公开(公告)号：EP2634534B1
公开(公告)日：2016-01-20
申请号：EP13156439.5
申请日：2013-02-22
发明人： Snyder, Scott , Mohr, Benjamin
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公开(公告)号：EP2988135A3
公开(公告)日：2016-06-22
申请号：EP15180657.7
申请日：2015-08-11
CPC分类号： G01P21/00 , G01C19/5783 , G01C25/00 , G01P1/003 , G01P1/023
摘要： Systems and method for reducing the size of inertial measurement units are disclosed. In one embodiment, an inertial measurement unit assembly comprises: at least one inertial sensor configured to output uncompensated sensor data; an inertial isolator configured to isolate the at least one inertial sensor; an interface adapter, wherein the interface adapter includes at least one calibration alignment pin that is used as a reference point between the at least one inertial sensor, the inertial interface adapter and a vehicle to which the inertial interface adapter is attached. Furthermore, the inertial measurement unit is configured to output the uncompensated sensor data to a processing device located external to the inertial measurement unit.
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公开(公告)号：EP2549230A3
公开(公告)日：2013-11-06
申请号：EP12166908.9
申请日：2012-05-04
发明人： Snyder, Scott , Mohr, Benjamin
CPC分类号： G01C21/165 , G01C25/005 , G01S19/49
摘要： An example embodiment includes a method for initializing a navigation system. The method includes receiving inertial measurement data from an inertial measurement unit over time and storing the inertial measurement data in a buffer with an indication of a time of validity for the inertial measurement data. The method also includes receiving navigation data from an aiding source, the navigation data having a time of validity, and initializing a navigation solution with the navigation data. The method also includes summing inertial measurement data from the buffer to produce an inertial motion estimate for a time increment after the time of validity of the navigation data, applying at least one of coning or sculling compensation to the inertial motion estimate to produce a compensated inertial motion estimate, and propagating the navigation solution forward based on the compensated inertial motion estimate.
摘要翻译： 示例实施例包括用于初始化导航系统的方法。 该方法包括随时间从惯性测量单元接收惯性测量数据，并将惯性测量数据存储在缓冲器中，其中惯性测量数据的有效时间的指示。 该方法还包括从辅助源接收导航数据，导航数据具有有效时间，并且利用导航数据初始化导航解决方案。 该方法还包括对来自缓冲器的惯性测量数据进行求和以在导航数据的有效时间之后产生针对时间增量的惯性运动估计，将圆锥或划桨补偿中的至少一个应用于惯性运动估计以产生经补偿的惯性 运动估计，并且基于补偿的惯性运动估计向前传播导航解。
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5.发明公开Systems and methods to incorporate master navigation system resets during transfer alignment 有权系统和主导航系统的背部位置的集成方法，而转移位置
公开(公告)号：EP2634534A2
公开(公告)日：2013-09-04
申请号：EP13156439.5
申请日：2013-02-22
发明人： Snyder, Scott , MOHR, Benjamin
摘要： Systems and methods to incorporate master navigation system resets during transfer alignment are provided. In one embodiment, a system comprises: a set of local inertial sensors; a local navigation processor coupled to local inertial sensors, the local navigation processor receiving inertial navigation data from local inertial sensors and converting the data into a navigation solution; a local Kalman filter (LKF) coupled to the local navigation processor and a master Kalman filter (MKF), the LKF receiving the navigation solution. The LKF receives from the MKF a Precision Transfer Alignment Message (PTAM) that includes at least one navigation aid measurement. The LKF inputs the navigation aid measurement into a measurement formation algorithm and calculates a measurement residual. The LKF receives from the MKF a Reset Transfer Alignment Message (RTAM) that includes a bias correction. The LKF inputs the bias correction into a state propagation algorithm to add to a navigation state.
摘要翻译： 提供系统和方法，传送在对准期间掺入主导航系统复位。 在一个实施例中，一种系统包括：一组局部惯性传感器; 本地导航处理器，耦合到本地惯性传感器，本地导航处理器接收来自本地惯性传感器惯性导航数据并将该数据转换成导航解决方案; 耦合到本地导航处理器和主卡尔曼滤波器（MKF）本地卡尔曼滤波器（DRG），则接收LKF导航解。 所述LKF从MKF接收一个精密传递对准消息（PTAM）确实包括至少一个导航设备测量。 所述LKF输入导航帮助测量到测量算法和地层计算一个测量残差。 所述LKF从MKF复位传递对准消息（RTAM）确实接收包括偏置校正。 所述LKF输入偏差校正成状态传播算法以添加到导航状态。
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公开(公告)号：EP2549230B1
公开(公告)日：2018-07-11
申请号：EP12166908.9
申请日：2012-05-04
发明人： Snyder, Scott , Mohr, Benjamin
CPC分类号： G01C21/165 , G01C25/005 , G01S19/49
摘要： An example embodiment includes a method for initializing a navigation system. The method includes receiving inertial measurement data from an inertial measurement unit over time and storing the inertial measurement data in a buffer with an indication of a time of validity for the inertial measurement data. The method also includes receiving navigation data from an aiding source, the navigation data having a time of validity, and initializing a navigation solution with the navigation data. The method also includes summing inertial measurement data from the buffer to produce an inertial motion estimate for a time increment after the time of validity of the navigation data, applying at least one of coning or sculling compensation to the inertial motion estimate to produce a compensated inertial motion estimate, and propagating the navigation solution forward based on the compensated inertial motion estimate.
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7.发明公开COMPACT INERTIAL MEASUREMENT UNIT WITH INTERFACE ADAPTER 审中-公开KOMPAKTE INERTIALMESSEINHEIT MIT SCHNITTSTELLENADAPTER
公开(公告)号：EP2988135A2
公开(公告)日：2016-02-24
申请号：EP15180657.7
申请日：2015-08-11
CPC分类号： G01P21/00 , G01C19/5783 , G01C25/00 , G01P1/003 , G01P1/023
摘要： Systems and method for reducing the size of inertial measurement units are disclosed. In one embodiment, an inertial measurement unit assembly comprises: at least one inertial sensor configured to output uncompensated sensor data; an inertial isolator configured to isolate the at least one inertial sensor; an interface adapter, wherein the interface adapter includes at least one calibration alignment pin that is used as a reference point between the at least one inertial sensor, the inertial interface adapter and a vehicle to which the inertial interface adapter is attached. Furthermore, the inertial measurement unit is configured to output the uncompensated sensor data to a processing device located external to the inertial measurement unit.
摘要翻译： 公开了用于减小惯性测量单元尺寸的系统和方法。 在一个实施例中，惯性测量单元组件包括：配置成输出未补偿的传感器数据的至少一个惯性传感器; 惯性隔离器，被配置为隔离所述至少一个惯性传感器; 接口适配器，其中所述接口适配器包括用作所述至少一个惯性传感器，所述惯性接口适配器和所述惯性接口适配器所附接的车辆之间的参考点的至少一个校准对准销。 此外，惯性测量单元被配置为将未补偿的传感器数据输出到位于惯性测量单元外部的处理装置。
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8.发明公开Systems and methods to incorporate master navigation system resets during transfer alignment 有权系统和主导航系统的背部位置的集成方法，而转移位置
公开(公告)号：EP2634534A3
公开(公告)日：2014-03-26
申请号：EP13156439.5
申请日：2013-02-22
发明人： Snyder, Scott , Mohr, Benjamin
摘要： Systems and methods to incorporate master navigation system resets during transfer alignment are provided. In one embodiment, a system comprises: a set of local inertial sensors; a local navigation processor coupled to local inertial sensors, the local navigation processor receiving inertial navigation data from local inertial sensors and converting the data into a navigation solution; a local Kalman filter (LKF) coupled to the local navigation processor and a master Kalman filter (MKF), the LKF receiving the navigation solution. The LKF receives from the MKF a Precision Transfer Alignment Message (PTAM) that includes at least one navigation aid measurement. The LKF inputs the navigation aid measurement into a measurement formation algorithm and calculates a measurement residual. The LKF receives from the MKF a Reset Transfer Alignment Message (RTAM) that includes a bias correction. The LKF inputs the bias correction into a state propagation algorithm to add to a navigation state.
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