System and method for navigation by applying corrected bias values to gyroscopic data

Patent metadata

Field	Value
Publication number	US-10240931-B2
Application number	US-201715593476-A
Country	US
Kind code	B2
Filing date	May 12, 2017
Priority date	Oct 26, 2012
Publication date	Mar 26, 2019
Grant date	Mar 26, 2019

Abstract

A disclosed method includes computing, for each of a plurality of values of at least one type of error parameter, a distance traveled for each of a plurality of directions of travel. The method includes selecting, from the plurality of values of the at least one type of error parameter, a value that provides a greatest distance traveled for any of the plurality of directions of travel relative to the unselected ones of the plurality of values. The method further includes applying the selected value of the at least one type of error parameter to gyroscopic sensor data, and then determining navigation information based on the gyroscopic sensor data with the selected value of the at least one type of error parameter applied.

First claim

What is claimed is:

1. A method, comprising:
computing, for each of a plurality of values of at least one type of error parameter, a distance traveled for each of a plurality of directions of travel;
selecting, from the plurality of values of the at least one type of error parameter, a value that provides a greatest distance traveled for any of the plurality of directions of travel relative to the unselected ones of the plurality of values;
applying the selected value of the at least one type of error parameter to gyroscopic sensor data; and
determining navigation information based on the gyroscopic sensor data with the selected value of the at least one type of error parameter applied.

2. The method of claim 1 , wherein the at least one type of error parameter comprises one or more of a yaw bias value, a yaw bias rate value, a cumulative yaw value, a gyroscopic gain value, or a gyroscopic gain rate value.

3. The method of claim 1 , comprising, prior to computing the distance traveled for each of the plurality of directions of travel, applying a wrap function to map all possible directions of travel to a subset of directions of travel, the subset of directions of travel being used as the plurality of directions of travel.

4. The method of claim 3 , comprising, prior to applying the selected value to the gyroscopic sensor data, validating the selected value by:
ordering the directions of travel in decreasing order based on their corresponding distance traveled for the selected value;
determining a ratio of a distance traveled for a first n directions of the decreasingly-ordered directions of travel to a total distance traveled for all of the plurality of directions of travel; and
validating the selected value when the ratio exceeds a determined threshold.

5. The method of claim 4 , wherein n is greater than or equal to 2.

6. The method of claim 1 , comprising selectively ignoring gyroscopic sensor data that indicates a deviation from straight-line motion.

7. The method of claim 1 , wherein the determined navigation information comprises dead reckoning navigation information.

8. A system comprising:
a gyroscopic sensor for obtaining gyroscopic data;
a processor; and
a memory coupled to the processor and storing instructions that, when executed by the processor, cause the processor to:
compute, for each of a plurality of values of at least one type of error parameter, a distance traveled for each of a plurality of directions of travel;
select a value from the plurality of values of the at least one type of error parameter that provides a greatest distance traveled for any of the plurality of directions of travel relative to the unselected ones of the plurality of values;
apply the selected value of the at least one type of error parameter to the gyroscopic data; and
determine navigation information using the gyroscopic data with the selected value of the at least one type of error parameter applied.

9. The system of claim 8 , wherein the system comprises a speed sensor for measuring the speed of the system, and determination of the navigation information is additionally based on speed data measured by the speed sensor.

10. The system of claim 9 , wherein the system comprises an altimeter for detecting changes in altitude of the system, and determination of the navigation information is additionally based on changes in altitude detected by the altimeter.

11. The system of claim 9 , wherein the system comprises an automobile.

12. The system of claim 8 , wherein the at least one type of error parameter comprises one or more of a yaw bias value, a yaw bias rate value, a cumulative yaw value, a gyroscopic gain value, or a gyroscopic gain rate value.

13. A system comprising:
a processor; and
a memory coupled to the processor and storing instructions, wherein the instructions, when executed by the processor, cause the processor to:
use mapping data to identify, from a plurality of directions of travel for the system, a subset of directions of travel corresponding to likely directions of travel;
compute, for each of a plurality of values of an error parameter, a distance traveled for each of a plurality of directions of travel;
select a first value from the plurality of values of the error parameter that provides a greatest distance traveled for any of the plurality of directions of travel relative to the unselected ones of the plurality of values;
determine whether the direction of travel of the greatest distance provided by the selected first value is one of the directions of travel in the subset of directions of travel; and
when the direction of travel of the greatest distance provided by the selected first value is part of the subset of directions of travel, using the selected first value to provide navigation information.

14. The system of claim 13 , comprising:
a gyroscopic sensor for measuring gyroscopic data;
wherein providing the navigation information comprises:
applying the selected first value of the error parameter to the gyroscopic data; and
determining dead reckoning navigation information using the gyroscopic data with the selected first value applied.

15. The system of claim 13 , comprising, when the direction of travel of the greatest distance provided by the selected first value is not part of the subset of directions of travel:
identifying the selected first value as an invalid value;
selecting a next value from the plurality of values of the error parameter that provides a greatest distance traveled for any of the plurality of possible directions of travel relative to the remaining unselected ones of the plurality of values that have not been identified as invalid values;
determining whether the direction of travel of the greatest distance provided by the selected next value is one of the directions of travel in the subset of directions of travel; and
when the direction of travel of the greatest distance provided by the selected next value is part of the subset of directions of travel, using the selected next value to provide navigation information.

16. The system of claim 13 , wherein the error parameter is a yaw bias value, a yaw bias rate value, a cumulative yaw value, a gyroscopic gain value, or a gyroscopic gain rate value.

17. The system of claim 13 , comprising, prior to computing the distance traveled for each of the plurality of directions of travel, applying a wrap function to map all possible directions of travel to directions of travel corresponding to a quadrant of a polar coordinate system, the directions of travel in the quadrant being used as the plurality of directions of travel.

18. The system of claim 17 , wherein the quadrant extends from 0 to 90 degrees.

19. The system of claim 17 , comprising, using the mapping data so that the wrap function maps all possible directions based on a geometry of a present location of the system.

20. The system of claim 13 , wherein the mapping data is stored in the memory.

Assignees

• Texas Instruments Inc

Inventors

• Rao Sandeep
• Waters Deric Wayne

Classifications

• G01C17/38

  Testing, calibrating, or compensating of compasses · CPC title

• G01C21/26

  specially adapted for navigation in a road network · CPC title

• G01C19/42

  for indicating rate of turn; for integrating rate of turn · CPC title

• G01C21/18 Primary

  Stabilised platforms, e.g. by gyroscope · CPC title

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title