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1.发明申请METHODS OF ATTITUDE AND MISALIGNMENT ESTIMATION FOR CONSTRAINT FREE PORTABLE NAVIGATION 审中-公开用于约束免费便携式导航的姿态和误差估计方法公开(公告)号：US20120245839A1
公开(公告)日：2012-09-27
申请号：US13426884
申请日：2012-03-22
申请人： Zainab Syed , Jacques Georgy , Christopher Goodall , Aboelmagd Noureldin , Naser El-Sheimy , Mohamed Atia
发明人： Zainab Syed , Jacques Georgy , Christopher Goodall , Aboelmagd Noureldin , Naser El-Sheimy , Mohamed Atia
CPC分类号： G01C21/165 , G01C21/206 , G01C25/005
摘要： The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.
摘要翻译： 本公开涉及增强关于设备和平台的导航解决方案的方法，其中设备的移动性可以在平台内受约束或不受约束，并且其中即使在没有正常的导航信息更新的情况下也提供导航解决方案 例如，GNSS）。 更具体地，本方法包括利用装置内的传感器（例如加速度计，陀螺仪，磁力计等）的测量来计算和解决装置和平台的姿态以及装置和平台之间的姿态不对准。
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公开(公告)号：US09423509B2
公开(公告)日：2016-08-23
申请号：US13806686
申请日：2011-06-27
摘要： A moving platform INS range corrector (“MPIRC”) module and its method of operation for providing navigation and positioning information. The module comprises: means, such as a receiver, for receiving a first set of absolute navigational information from an external source (such as satellites in case of GNSS); an inertial sensor unit for generating a second set of navigational information at the module; and a transceiver, for receiving and/or transmitting signals and estimating distance measurement from a known position and receiving position coordinates. The navigational information is used by a processor programmed with a core algorithm, to produce a navigation solution (which comprises position, velocity and attitude). The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of distance and position coordinate measurement from a known position.
摘要翻译： 移动平台INS范围校正器（“MPIRC”）模块及其操作方法，用于提供导航和定位信息。 该模块包括：用于从外部源（例如在GNSS的情况下的卫星）接收第一组绝对导航信息的装置，例如接收机; 惯性传感器单元，用于在模块处产生第二组导航信息; 以及收发器，用于从已知位置接收和/或发送信号并估计距离测量并接收位置坐标。 导航信息由编程有核心算法的处理器使用，以产生导航解决方案（其包括位置，速度和姿态）。 该系统具有以下属性：解决方案无缝生成，即使一个导航信息源暂时停止运行; 通过使用已知位置的距离和位置坐标测量来帮助解决方案的准确性。
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3.发明申请METHOD AND APPARATUS FOR REAL-TIME POSITIONING AND NAVIGATION OF A MOVING PLATFORM 审中-公开用于移动平台实时定位和导航的方法和装置公开(公告)号：US20150204983A1
公开(公告)日：2015-07-23
申请号：US14125022
申请日：2012-06-08
申请人： Jacques Georgy , Christopher Goodall , Mohamed Atia , Walid Abdelfatah , Zhi Shen , Aboelmagd Noureldin , Husain Syed
发明人： Jacques Georgy , Christopher Goodall , Mohamed Atia , Walid Abdelfatah , Zhi Shen , Aboelmagd Noureldin , Husain Syed
摘要： A navigation module for providing a real-time INS/GNSS navigation solution for a moving object comprising a receiver for receiving absolute navigational information from an external source and an assembly of self-container sensors for generating navigational information. The module also contains a processor coupled to receive the output information from the receiver and sensor assembly, and integrate the output information in real-time to produce an overall navigation solution. The overall navigation solution will contain a main navigation solution task, and at least one other task, where the other task is used to enhance the overall navigation solution.
摘要翻译： 一种用于为移动物体提供实时INS / GNSS导航解决方案的导航模块，包括用于从外部源接收绝对导航信息的接收器和用于产生导航信息的自身容器传感器的组装。 该模块还包括处理器，其耦合以从接收器和传感器组件接收输出信息，并实时整合输出信息以产生整体导航解决方案。 整体导航解决方案将包含一个主要的导航解决方案任务，以及至少一个其他任务，其他任务用于增强整体导航解决方案。
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公开(公告)号：US08756001B2
公开(公告)日：2014-06-17
申请号：US13037130
申请日：2011-02-28
CPC分类号： G01C21/10 , G01C21/165 , G01S19/47 , G01S19/49
摘要： A navigation module and method for providing an INS/GNSS navigation solution for a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.
摘要翻译： 提供了一种用于为移动平台提供INS / GNSS导航解决方案的导航模块和方法，包括用于从外部源（例如，诸如卫星）接收绝对导航信息的接收机，用于获得速度或速度信息的装置和 组装能够获得关于移动平台的读数（例如，例如基于相关或非参考的导航信息）的自包含传感器，并且还包括至少一个处理器，其被耦合以从接收器，传感器组件接收输出信息 用于获取速度或速度信息的装置，并且可操作地将输出信息集成以产生导航解决方案。 至少一个处理器可以通过使用速度或速度信息来将平台的实际运动与传感器组件的读数分离来提供导航解决方案。
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公开(公告)号：US20130211713A1
公开(公告)日：2013-08-15
申请号：US13806686
申请日：2011-06-27
IPC分类号： G01S19/49
摘要： A moving platform INS range corrector (“MPIRC”) module and its method of operation are disclosed for providing navigation and positioning information. The module comprises: means, such as a receiver, for receiving a first set of absolute navigational information from an external source (such as satellites in case of GNSS); an inertial sensor unit for generating a second set of navigational information at the module; and a transceiver, for receiving and/or transmitting signals and estimating distance measurement from a known position and receiving position coordinates. The navigational information is used by a processor programmed with a core algorithm, to produce a navigation solution (which comprises position, velocity and attitude). The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of distance and position coordinate measurement from a known position.
摘要翻译： 公开了移动平台INS范围校正器（“MPIRC”）模块及其操作方法，用于提供导航和定位信息。 该模块包括：用于从外部源（例如在GNSS的情况下的卫星）接收第一组绝对导航信息的装置，例如接收机; 惯性传感器单元，用于在模块处产生第二组导航信息; 以及收发器，用于从已知位置接收和/或发送信号并估计距离测量并接收位置坐标。 导航信息由编程有核心算法的处理器使用，以产生导航解决方案（其包括位置，速度和姿态）。 该系统具有以下属性：解决方案无缝生成，即使一个导航信息源暂时停止运行; 通过使用已知位置的距离和位置坐标测量来帮助解决方案的准确性。
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公开(公告)号：US20120221244A1
公开(公告)日：2012-08-30
申请号：US13037130
申请日：2011-02-28
CPC分类号： G01C21/10 , G01C21/165 , G01S19/47 , G01S19/49
摘要： A navigation module and method for providing an INS/GNSS navigation solution for a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.
摘要翻译： 提供了一种用于为移动平台提供INS / GNSS导航解决方案的导航模块和方法，包括用于从外部源（例如，诸如卫星）接收绝对导航信息的接收机，用于获得速度或速度信息的装置和 组装能够获得关于移动平台的读数（例如，例如基于相关或非参考的导航信息）的自包含传感器，并且还包括至少一个处理器，其被耦合以从接收器，传感器组件接收输出信息 用于获取速度或速度信息的装置，并且可操作地将输出信息集成以产生导航解决方案。 至少一个处理器可以通过使用速度或速度信息来将平台的实际运动与传感器组件的读数分离来提供导航解决方案。
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公开(公告)号：US11506512B2
公开(公告)日：2022-11-22
申请号：US15929367
申请日：2020-04-28
发明人： Amr Shebl Ahmed , Medhat Omr , Abdelrahman Ali , Jacques Georgy , Christopher Goodall , Billy Cheuk Wai Chan , Qingli Wang
摘要： Feedback for map information is based on an integrated navigation solution for a device within a moving platform using obtained motion sensor data from a sensor assembly of the device, obtained radar measurements for the platform and obtained map information for an environment encompassing the platform. An integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique that uses a nonlinear measurement model for radar measurements. The map information is assessed based at least in part on the integrated navigation solution and radar measurements so that feedback for the map information can be provided.
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公开(公告)号：US10656285B2
公开(公告)日：2020-05-19
申请号：US15534213
申请日：2014-12-08
IPC分类号： G01S19/47 , H04W4/40 , G01S5/02 , G01S19/45 , G01S19/48 , H04W4/02 , H04W4/029 , H04W8/22 , H04M1/725
摘要： The invention relates to navigation, particularly, to detection of indoor and outdoor positions of mobile devices. Technical result of the invention is to improve the accuracy of mobile terminal position detection at time of occurrence of a specific trigger event and decrease of load on sensor, computing, communication and other resources of the mobile terminal at times when a trigger event occurs. Mobile terminal positioning technique at the trigger event moment, is characterized by the following sequence: receipt of series of readings of inertial and non-inertial sensors, identification of intervals, during which readings of at least one sensor generates a stationary process; then detection of at least one point of time, when at least one stationary process is replaced by another stationary process; then identification of parameters of at least one pattern of movement for at least one stationarity interval; then detection of at least one position of the mobile terminal according to readings of non-inertial sensors; estimation of mobile terminal path according to parameters of at least one pattern of movement and then of position corresponding to change of one stationary process to another; then detection of mobile terminal position at time corresponding to a specific trigger event.
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9.发明授权公开(公告)号：US10652696B2
公开(公告)日：2020-05-12
申请号：US14812949
申请日：2015-07-29
发明人： Abdelrahman Ali , Amr Al-Hamad , Jacques Georgy , Hsiu-Wen Chang
摘要： Systems and methods are disclosed for categorizing a device use case for on foot motion with a portable device. Motion sensor data corresponding to motion of the portable device may be obtained, such as from a sensor assembly of the device. The motions sensor data is processed. Further, a use case characteristic may be determined from the processed and/or raw motion sensor data, an effective frequency may be determined from the processed and/or raw motion sensor data and/or an Eigen use case may be determined. The device use case may then be classified using the processed and/or raw motion sensor data and at least one of the use case characteristic, the effective frequency and the Eigen use case.
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10.发明授权System and method for intelligent tuning of Kalman filters for INS/GPS navigation applications 有权用于INS / GPS导航应用的卡尔曼滤波器的智能调谐系统和方法公开(公告)号：US09593952B2
公开(公告)日：2017-03-14
申请号：US12246126
申请日：2008-10-06
申请人： Chris Goodall , Naser El-Sheimy
发明人： Chris Goodall , Naser El-Sheimy
CPC分类号： G01C21/165 , G01S19/47
摘要： Disclosed is a reinforcement learning technique for online tuning of integration filters of navigation systems needing a priori tuning parameters, such as Kalman Filters and the like. The method includes receiving GNSS measurements from the GNSS unit of the navigation system; and IMU measurements from IMU of the navigation system. The method further includes providing a priori tuning parameters to tune the integration filter of the navigation system. The method further includes processing the GNSS and IMU measurements using the tuned integration filter to compute a position estimate and updating the a priori tuning parameters based on the computer position estimate.
摘要翻译： 公开了一种用于在线调整需要先验调整参数的导航系统的集成滤波器的加强学习技术，例如卡尔曼滤波器等。 该方法包括从导航系统的GNSS单元接收GNSS测量; 和来自IMU的导航系统的IMU测量。 该方法还包括提供先验调整参数以调整导航系统的积分滤波器。 该方法还包括使用调谐的积分滤波器来处理GNSS和IMU测量，以基于计算机位置估计来计算位置估计和更新先验调谐参数。
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