Method and apparatus for real-time positioning and navigation of a moving platform

Patent metadata

Field	Value
Publication number	US-10082583-B2
Application number	US-201214125022-A
Country	US
Kind code	B2
Filing date	Jun 8, 2012
Priority date	Jun 9, 2011
Publication date	Sep 25, 2018
Grant date	Sep 25, 2018

Abstract

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.

First claim

The embodiments in which an exclusive property or privilege is claimed are defined as follows:

1. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising: a receiver for receiving absolute navigational information about the object from an external source, and producing an output indicative thereof, an assembly of self-contained sensors configured to obtain readings relating to navigational information about the object, and producing readings indicative thereof, and at least one processor, coupled to receive the navigational output and the readings from the sensor assembly, and operative to provide the overall navigation solution consisting of multiple tasks comprising: a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output, and at least one other task, wherein the at least one other task is used to enhance the overall navigation solution; wherein the at least one other task is selected from the group consisting of:
a. at least two other tasks comprising a buffering task and a GNSS update task, wherein the receiver further outputs a timing pulse signal corresponding to the absolute navigation information output, wherein the processor is further coupled to receive the timing pulse signal, having a pulse indicating when the absolute navigation output should have been received, wherein the absolute navigational output may be delayed compared to the pulse, wherein the buffering task buffers the state of the main navigation solution task when the pulse is received and the readings from the sensor assembly, wherein the buffering of the readings from the sensor assembly begins when the pulse is received, and wherein the GNSS update task utilizes the buffered sensor readings until the GNSS update task synchronizes in time with the main navigation solution task, and merges therewith to enhance the main navigation solution task;
b. a higher rate attitude task configured to calculate attitude angles about the object at a higher rate than the main navigation solution task, wherein the main navigation solution task is based at least in part on the readings from the sensor assembly;
c. a lower rate navigation solution task that is more computationally complex and more accurate than the main navigation solution task, and used to enhance the main navigation solution task, wherein the main navigation solution task and the lower rate navigation solution task are both based at least in part on the sensor readings and wherein at least some quantities comprised in the main navigation solution task and at least some quantities comprised in the lower rate navigation solution task are the same navigation solution quantities;
d. at least two other tasks comprising a buffering task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, and a backward smoothing solution task that uses the buffered information to provide a backward smoothed solution to enhance the main navigation solution task; and
e. at least two other tasks comprising a buffering task and a tuning routine task, wherein the buffering task buffers the absolute navigation information output, the readings from the sensor assembly and the output of the main navigation solution task, wherein the main navigation solution task runs a state estimation technique in a first instance, and wherein the tuning routine task uses the buffered information to tune parameters of the state estimation technique in a second instance, and then supplants the tuned parameters into the state estimation technique in the first instance to enhance the main navigation solution task.

2. The navigation module in claim 1 , wherein the receiver for receiving absolute navigational information is a GNSS receiver.

3. The navigation module in claim 1 , wherein the moving object is tethered or non-tethered to a moving platform.

4. The navigation module in claim 3 , wherein the moving platform is a vehicle, a vessel or a person.

5. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising: a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof and a corresponding timing pulse signal, an assembly of self-contained sensors configured to obtain readings relating to navigational information about the object, and producing readings indicative thereof, at least one processor, coupled to receive i. the pulse signal, having a pulse indicating when the absolute navigation output should have been received, ii. the absolute navigational output, which may be delayed compared to the pulse, and iii. the readings from the sensor assembly, and operative to provide the overall navigation solution consisting of multiple tasks comprising: a main navigation solution task, wherein the main navigation solution task output is the real time navigation output, and at least two other tasks, wherein the at least two other tasks comprise a buffering task that buffers the state of the main navigation solution task when the pulse is received and the readings from the sensor assembly, wherein the buffering of the readings from the sensor assembly begins when the pulse is received, and a GNSS update task, wherein the GNSS update task utilizes the buffered sensor readings until the GNSS update task synchronizes in time with the main navigation solution task, and merges therewith to enhance the main navigation solution task, thereby enhancing the overall navigation solution.

6. The navigation module in claim 5 , wherein the receiver for receiving absolute navigational information is a GNSS receiver.

7. The navigation module in claim 5 , wherein the moving object is tethered or non-tethered to a moving platform.

8. The navigation module in claim 7 , wherein the moving platform is a vehicle, a vessel or a person.

9. A navigation module for providing an overall navigation solution that provides a real-time navigation output about a moving object, the module comprising: a receiver for receiving absolute navigational information about the object from an external source, and producing a navigational output indicative thereof, an assembly of self-contained sensors configured to obtain readings relating to navigational information about the object, and producing readings indicative thereof, at least one processor, coupled to receive i. the absolute navigational information output, ii. the readings from the sensor assembly, and operative to provide the overall navigation solution consisting of multiple tasks comprising: a main navigation solution task, wherein the main navigation solution task output is the real-time navigation output and is based at least in part on the readings from the sensor assembly, and at least one other task, wherein the at least one other task comprises a higher rate attitude task configured to calculate attitude angles about the object at a higher rate than the main navigation solution task, thereby providing an enhanced overall navigation solution.

10. The navigation module in claim 9 , wherein the receiver for receiving absolute navigational information is a GNSS receiver.

11. The navigation module in claim 9 , wherein the moving object is tethered or non-tethered to a moving platform.

12. The navigation module in claim 11 , wherein the moving platform is a vehicle, a vessel or a person.

13. The navigation module in claim 9 , wh

Assignees

• Georgy Jacques
• Goodall Christopher
• Atia Mohamed
• Abdelfatah Walid
• Shen Zhi
• Noureldin Aboelmagd
• Syed Husain
• Invensense Inc

Inventors

• Georgy Jacques
• Goodall Christopher
• Atia Mohamed
• Abdelfatah Walid
• Shen Zhi
• Noureldin Aboelmagd
• Syed Husain

Classifications

• G01S19/396 Primary

  Determining accuracy or reliability of position or pseudorange measurements · CPC title

• G01S19/393

  Trajectory determination or predictive tracking, e.g. Kalman filtering · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01S19/39 Primary

  the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO · CPC title