| Class / Patent application number | Description | Number of patent applications / Date published |
|---|
| 701500000 | Using inertial sensing (e.g., Inertial Navigation System (INS), etc.) | 72 |
| 20120029820 | DIVER HOMING DISPLAY SYSTEM AND METHOD - A relative positioning system enabling a user to return to a starting position or some other point on the user's path. The system may include an array of accelerometers. The output from the accelerometers may be integrated to quantify movement of the array. The various movements of the array may be reconstructed to determine a net two or three dimensional translation. The current location of the array may be compared to a reference point to derive at trajectory directing the user to the reference point, such as an originating point. The trajectory may be continuously or periodically updated. Applications may include various displays presenting images, numbers, pointers, paths, vectors, or data by digital screens, watch faces, or other devices integrated with or remote from the processor calculating the vector back to the point of origin. | 02-02-2012 |
| 20120253670 | SYSTEMS AND METHODS FOR GENERATING AND USING MOVING VIOLATION ALERTS - Systems and methods for generating and using moving violation alerts are disclosed. A navigation device located in a vehicle determines the vehicle's present location and present speed, and generates a moving violation alert. The moving violation alert comprises at least one of time information, location information, road segment information, and sensor information. A tracking device coupled to the navigation device provides the moving violation alert on a network. The network connection is configured to transmit the moving violation alert from the navigation device to a recipient outside the vehicle. Moving violation alerts may be stored and analyzed by the recipient. | 10-04-2012 |
| 20120259544 | Feature Location and Resource Management System and Method - A feature location and management system having: a user-associated marker unit, including: a controller to generate feature data associated with at least one feature located at a site; an activation device to activate the controller to generate the feature data; and a communication device to transmit at least a portion of the feature data. A central control device directly or indirectly receives at least a portion of the feature data transmitted by the marker unit; and generates display data based at least partially on the received feature data. | 10-11-2012 |
| 20120265441 | NAVIGATION SYSTEM, NAVIGATION DEVICE, NAVIGATION SERVER, VEHICLE PROVIDED WITH A NAVIGATION DEVICE, GROUP OF SUCH VEHICLES AND NAVIGATION METHOD - A navigation system is disclosed comprising a navigation device ( | 10-18-2012 |
| 20130024115 | NAVIGATION SYSTEM INITIALIZATION WITH INERTIAL DATA COMPENSATION - 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. | 01-24-2013 |
| 20130030700 | Navigational Deployment and Initialization Systems and Methods - A navigational deployment and initialization system, including: at least one personal inertial navigation module associated with at least one user and comprising a plurality of sensors and at least one controller configured to generate navigation data derived at least in part upon output of the plurality of sensors and at least one navigation routine; at least one deployment recognition device configured to directly or indirectly receive at least one of the following: user data, time data, event data, navigation data, or any combination thereof; and at least one central controller in direct or indirect communication with the at least one deployment recognition device and configured to receive at least a portion of at least one of the following: the user data, the time data, the event data, the navigation data, or any combination thereof. | 01-31-2013 |
| 20130030701 | DIVER HOMING DISPLAY SYSTEM AND METHOD - A relative positioning system enabling a user to return to a starting position or some other point on the user's path. The system may include an array of accelerometers. The output from the accelerometers may be integrated to quantify movement of the array. The various movements of the array may be reconstructed to determine a net two or three dimensional translation. The current location of the array may be compared to a reference point to derive at trajectory directing the user to the reference point, such as an originating point. The trajectory may be continuously or periodically updated. Applications may include various displays presenting images, numbers, pointers, paths, vectors, or data by digital screens, watch faces, or other devices integrated with or remote from the processor calculating the vector back to the point of origin. | 01-31-2013 |
| 20130046463 | POSITIONING MODULE - A positioning device includes a magnetometer configured to detect and provide heading information, a motion sensor configured to detect and provide motion information, a microcontroller coupled to the magnetometer and the motion sensor and configured to generate position data based on the heading information and the motion information, a transmitter coupled to the microcontroller and configured to wireles sly transmit a signal including the position data, and a piezoelectric power source configured to supply power to at least one of the microcontroller, the magnetometer, the motion sensor and the transmitter. | 02-21-2013 |
| 20130060467 | NAVIGATION SYSTEM WITH DEVICE ORIENTATION MECHANISM AND METHOD OF OPERATION THEREOF - A method of operation of a navigation system includes: receiving acceleration information, including an acceleration measurement, and location information; calculating a total acceleration magnitude, having a vertical acceleration magnitude and a horizontal acceleration magnitude, from the acceleration measurement; calculating an average velocity estimation from the location information; calculating an average acceleration estimation from the location information; calculating a component angle between the average velocity estimation and the average acceleration estimation; calculating a forward acceleration and a lateral acceleration with the component angle and the horizontal acceleration magnitude; and generating a motion classification for a travel acceleration based on the forward acceleration and the lateral acceleration for displaying on a device. | 03-07-2013 |
| 20130110397 | Method and System for Detection of a Zero Velocity State of an Object | 05-02-2013 |
| 20130166201 | SYSTEM AND METHOD FOR CONTINUOUS AND INCREMENTAL LOCATION TRACKING OF A SMARTPHONE BASED ON SITUATION-AWARE CONTROL OF THE LEVEL OF BACKGROUND SENSING - The invention comprises a method for controlling the level of background reading of the sensors of a smartphone in order to continuously and incrementally track its location in an energy-efficient manner based on the situations its user faces habitually. | 06-27-2013 |
| 20130211718 | APPARATUS AND METHOD FOR PROVIDING INDOOR NAVIGATION SERVICE - Disclosed herein is an apparatus and method for providing an indoor navigation service. An apparatus includes a communication module for, when an indoor navigation service is executed, accessing a service server for providing the indoor navigation service. An image control module acquires indoor images in real time and displays the indoor images on an indoor navigation screen. An indoor location recognition module extracts indoor marker from the indoor images, obtains information about the extracted indoor marker, and recognizes a current location in the indoor space based on the indoor marker information. An indoor navigation module requests indoor navigation information to the service server based on information about the current location and destination information, and displays the indoor navigation information. | 08-15-2013 |
| 20130261964 | SYSTEMS, METHODS, AND APPARATUS FOR PROVIDING INDOOR NAVIGATION USING MAGNETIC SENSORS - An indoor navigational system determines a location of a moveable object in an indoor area and displays this location to a user. The system includes an absolute position sensor coupled to a case attached to a moveable object including a motion sensor coupled to a case including a first magnetic field sensor configured to detect a polarity of a magnet as the magnet passes in proximity to the first magnetic field sensor, a code wheel having two or more magnets alternately oriented with north and south polarities facing toward the first magnetic sensor, the code wheel positioned to rotate in unison with a wheel of the moveable object, and encoder circuitry configured to determine an amount of rotation of the wheel of the moveable object based on an output of the first magnetic field sensor. | 10-03-2013 |
| 20130282276 | GNSS Performance Enhancement Using Accelerometer-Only Data - The present invention provides apparatus and methods for improving satellite navigation by assessing the dynamic state of a platform for a satellite navigation receiver and using this data to improve navigation models and satellite tracking algorithms. The dynamic state of the receiver platform may be assessed using only accelerometer data, and does not require inertial navigation system integration. The accelerometers may not need to be very accurate and may not need to be aligned and/or accurately calibrated. | 10-24-2013 |
| 20130338915 | ATTITUDE DETERMINATION METHOD, POSITION CALCULATION METHOD, AND ATTITUDE DETERMINATION DEVICE - A new method for determining an attitude of a sensor with respect to a moving body is proposed. A movement vector is measured by a sensor mounted in the moving body. In addition, the attitude of the sensor with respect to the moving body is determined using the movement vector measured by the sensor when the moving body starts to move. | 12-19-2013 |
| 20140114569 | INERTIAL NAVIGATION SCULLING ALGORITHM - A system for determining a combined velocity rotation compensation and sculling compensation in an inertial navigation system includes: gyroscopes configured to provide a measured angular rotation rate with components from three orthogonal axes; accelerometers configured to provide a measured specific force with components from three orthogonal axes; and a processor configured to calculate a first combined velocity rotation compensation and sculling compensation at a single computational rate, the processor configured to: calculate a first cross product of an instantaneous angular rotation rate and a change in the measured specific force during a first interval; and sum the first cross product with a second cross product of a fraction of the change in the specific force during the second interval and the change in the measured angular rate during the first interval; where the first and second intervals are each one cycle of the single computational rate. | 04-24-2014 |
| 20140121962 | SYSTEMS AND METHODS FOR NAVIGATING USING CORRECTED YAW BIAS VALUES - A method for navigating using a speed sensor and a yaw rate sensor includes computing, for each of a plurality of error parameter values, a distance traveled for each of a plurality of directions of travel. The method also includes selecting the error parameter value that maximizes the distance traveled in one or more of the directions of travel, applying the selected error parameter value to data from the yaw rate sensor, and navigating using dead reckoning based on data from the speed sensor and data from the yaw rate sensor with the applied error parameter value. | 05-01-2014 |
| 20140278080 | METHOD TO SCALE INERTIAL LOCATION DATA USING DIRECTIONAL AND/OR SCALE CONFIDENCE CONSTRAINTS - Methods, systems, and computer readable storage media are presented for directional scaling of inertial path data to satisfy ranging constraints. The presented techniques take into account scaling confidence information. In addition to bounding potential scale corrections based on the reliability of the inertial path and the magnetic heading confidence, the techniques bound potential scale parameters based on constraints and solve for directional scale parameters. | 09-18-2014 |
| 20140316698 | OBSERVABILITY-CONSTRAINED VISION-AIDED INERTIAL NAVIGATION - This disclosure describes techniques for reducing or eliminating estimator inconsistency in vision-aided inertial navigation systems (VINS). For example, an observability-constrained VINS (OC-VINS) is described which enforce the unobservable directions of the system to prevent spurious information gain and reduce inconsistency. | 10-23-2014 |
| 20140324338 | SYSTEM AND METHOD FOR CONTINUOUS AND INCREMENTAL LOCATION TRACKING OF A SMARTPHONE BASED ON SITUATION-AWARE CONTROL OF THE LEVEL OF BACKGROUND SENSING - The invention comprises a method for controlling the level of background reading of the sensors of a smartphone in order to continuously and incrementally track its location in an energy-efficient manner based on the situations its user faces habitually. | 10-30-2014 |
| 20140365119 | DETECTING INFORMATION ABOUT MOTION OF MOBILE DEVICE - Provided is an apparatus caused at least to: acquire a set of Earth's magnetic field, EMF, measurement results, wherein each EMF measurement result represents at least one of a magnitude and a direction of the EMF as experienced by a mobile device; perform, on the basis of the set of EMF measurement results, a first observation indicating that the mobile device is currently in motion; acquire a set of inertial measurement results, wherein each inertial measurement result represents at least one of acceleration and angular velocity experienced by the mobile device; perform, on the basis of the set of inertial measurement results, a second observation indicating that the motion of the mobile device does not exceed a predefined stationarity threshold; and determine, on the basis of the first and second observations, that the mobile device is currently located in a transport unit which is moving with respect to surrounding environment. | 12-11-2014 |
| 20140372027 | Music-Based Positioning Aided By Dead Reckoning - Music-based positioning (MP) provides positioning service only sporadically and therefore is not suitable for indoor positioning. The present invention discloses system and method for music-based positioning aided by dead reckoning (MP-DR). At each signature burst (i.e. a highly unique short musical segment suitable for positioning), musical sounds are used for positioning. Between signature bursts, positioning is performed by dead reckoning (DR). MP-DR is an ideal combination of MP and DR: DR extends temporal coverage for MP, while MP provides the much needed periodic calibrations for DR. | 12-18-2014 |
| 20150039224 | METHOD AND APPARATUS FOR DETECTING AND SHARING VEHICLE LOCATION - An approach is provided for providing a service that determines a vehicle's location without user interaction when the vehicle is incapable of updating its current location. A location platform determines a first set of dead reckoning data associated with a vehicle from a first point to a second point within an area in which one or more non-dead reckoning location technologies are unavailable or not used. The location platform determines a second set of dead reckoning data associated with at least one device of at least one user of the vehicle from the second point to a third point, wherein the one or more non-dead reckoning location technologies is available or used at the third point. The location platform then processes and/or facilitates a processing of the first set of dead reckoning data and the second set of dead reckoning data to determine a location of the second point. | 02-05-2015 |
| 20150057926 | Automatic Detection of Parking Level In Multi-Level Structure - Implementations of the present invention contemplate utilizing the communicative connections between a telematics service provider (TSP), a communication device, and a telematics unit in a vehicle parked in a multilevel parking garage to determine location information of the vehicle and to provide such information to a subscriber of the TSP. A subscriber of a TSP may transmit a request for information pertaining to the location of a vehicle parked within a multilevel parking structure from a communication device. Upon the receipt of such a request, the TSP provides the information requested by the subscriber. In various implementations, the providing of such information by the TSP may involve querying the telematics unit in the vehicle or querying a database storing location information pertaining to one or more vehicles and may further involve performing calculations to derive the information requested by the communication device. In some implementations, the information requested by the communication device includes but is not limited to a floor number, or level, of the parking garage on which the telematics-equipped vehicle is parked. | 02-26-2015 |
| 20150149085 | METHOD AND SYSTEM FOR AUTOMATICALLY GENERATING LOCATION SIGNATURES FOR POSITIONING USING INERTIAL SENSORS - A device, method and computer readable medium is disclosed for generating a plurality of location signature is disclosed. The method includes seeding a device with an initial position and utilizing an inertial positioning system to propagate user position, and generating location signatures. | 05-28-2015 |
| 20160033285 | TRANSPORTATION ANALYTICS EMPLOYING TIMED FINGERPRINT LOCATION INFORMATION - The disclosed subject matter provides for traffic analysis employing timed fingerprint location information. In an aspect, TFL information can be associated with location characteristics for a UE. These location characteristics can describe the motion of the UE. As such, with proper analysis, the motion of the UE can be correlated to traffic patterns. Transportation analytics can employ TFL information to provide real time or near real time traffic information, forecast traffic conditions, or automate response to traffic conditions based on TFL information. Whereas TFL can provide advantages over other types of location information systems, leveraging TFL information in traffic analysis can reflect these advantages. Further, whereas TFL information can be gathered from nearly all modern and many legacy mobile devices, large volumes of TFL information can be employed in related transportation analytics. | 02-04-2016 |
| 20160054443 | COLLISION PREVENTION SYSTEM FOR GROUND SUPPORT EQUIPMENT - A collision prevention system for ground support equipment, said system comprising means for identifying an aircraft in the vicinity of the ground support equipment and for determining a virtual model of the aircraft based upon stored data and said identification of the aircraft, the system further comprising means for determining parameters relating to the location, speed and orientation of the ground support equipment relative to the aircraft and comparing said parameters to said virtual model to prevent collisions between the ground support equipment and the aircraft. | 02-25-2016 |
| 20160091317 | NAVIGATION SYSTEM AND METHOD FOR MACHINE - A method of determining a heading of a machine having an implement is provided. The method includes determining a first heading data of the machine using an inertial sensor. The method includes determining a second heading data of the machine using a magnetometer. The method includes determining a position of the implement in a stationary state. The method also includes calculating a corrected second heading data based on a predefined relation between the position of the implement in the stationary state and the second heading data. The method further includes determining the heading of the machine based on the first heading data and the corrected second heading data. | 03-31-2016 |
| 20160113730 | INERTIALLY TRACKED OBJECTS - Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the first IMU is reset while the first object is in a first reproducible reference pose with a second object. | 04-28-2016 |
| 20160146610 | MOVEMENT STATE INFORMATION CALCULATION METHOD AND MOVEMENT STATE INFORMATION CALCULATION DEVICE - A traveling direction velocity calculation device | 05-26-2016 |
| 20160178378 | AUXILIARY GUIDING DEVICE AND SYSTEM FOR THE BLIND | 06-23-2016 |
| 20160187153 | SYSTEMS AND METHODS OF DETERMINING LOCATIONS OF MEDICAL DEVICES RELATIVE TO WEARABLE DEVICES - According to some aspects, a wearable device is provided. The wearable device includes a memory, one or more antennas, one or more processors coupled with the memory and the one or more antennas, a location manager component executable by the one or more processors and configured to determine a location of the wearable device, and a direction manager component executable by the one or more processors. The direction manager component may be configured to receive, via the one or more antennas, information descriptive of a location of the medical device, determine a path between the location of the wearable device and the location of the medical device, and provide information descriptive of the path. | 06-30-2016 |
| 20160252354 | METHOD AND SYSTEM FOR MULTIPLE PASS SMOOTHING | 09-01-2016 |
| 20170234129 | System and method for real-time guidance and mapping of a tunnel boring machine and tunnel | 08-17-2017 |
| 701501000 | Having correction by non-inertial sensor | 13 |
| 20120010812 | Method and System for Determining Position of an Inertial Computing Device in a Distributed Network - A system for retrieving information about a position of an inertial computing device (ICD) for use in an application, which includes a network of local positioning docks (PDs), each capable of docking an ICD by restricting three dimensions of a physical position of the ICD near one of the PDs; a database capable of storing information about the positions of the PDs within the network; a calculator capable of determining, based on a position of a positioning dock (PD), the position of the ICD; and an application programming interface (API) connected to the database and capable of outputting the position of a PD to the ICD. | 01-12-2012 |
| 20120065883 | GPS/INS SENSOR FUSION USING GPS WIND UP MODEL - A method of stabilizing an inertial navigation system (INS), includes the steps of: receiving data from an inertial navigation system; and receiving a finite number of carrier phase observables using at least one GPS receiver from a plurality of GPS satellites; calculating a phase wind up correction; correcting at least one of the finite number of carrier phase observables using the phase wind up correction; and calculating a corrected IMU attitude or velocity or position using the corrected at least one of the finite number of carrier phase observables; and performing a step selected from the steps consisting of recording, reporting, or providing the corrected IMU attitude or velocity or position to another process that uses the corrected IMU attitude or velocity or position. A GPS stabilized inertial navigation system apparatus is also described. | 03-15-2012 |
| 20120173142 | INERTIAL SENSOR AIDED HEADING AND POSITIONING FOR GNSS VEHICLE NAVIGATION - An apparatus and method for providing an improved heading estimate of a mobile device in a vehicle is presented. First, the mobile device determines if it is mounted in a cradle attached to the vehicle; if so, inertia sensor data may be valid. While in a mounted stated, the mobile device determines whether it has been rotated in the cradle; if so, inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form the improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct a gyroscope. | 07-05-2012 |
| 20130018582 | Inertial Navigation Common Azimuth Reference Determination System and Method - An inertial navigation system, including at least one personal inertial navigation module (including accelerometers, gyroscopes, and magnetometers) and at least one controller, which: obtains rotation origin data and reference magnetic field data; generates inertial navigation data using a navigation routine; generates azimuth correction data using a separate azimuth correction routine; and generates output data. Common azimuth reference determination methods are also disclosed. | 01-17-2013 |
| 20130090848 | NORTH FINDER - An attitude determination system provided with North-finding capability, comprises: a) a stage consisting of a rotating platform provided with a high precision positioning controller; b) an Inertial Navigation System (INS) comprising inertial sensors, wherein said inertial sensors comprise gyroscopes and accelerometers, and wherein at least one gyroscope is of a precision suitable to find the direction of true North; and, c) a control unit for controlling input signals and output signals of the stage and the INS and combining the signals in order to provide attitude data of the system. | 04-11-2013 |
| 20130166202 | SYSTEM AND METHOD FOR LOCATING, TRACKING, AND/OR MONITORING THE STATUS OF PERSONNEL AND/OR ASSETS BOTH INDOORS AND OUTDOORS - A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively “trackees”), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application generates position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application further uses information from building data, when available, to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented compute a more accurate tracking estimate for trackees. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data if and when available, and with GPS, if and when available. | 06-27-2013 |
| 20130245936 | MOVING BODY POSITION DETECTION SYSTEM, MOVING BODY POSITION DETECTION APPARATUS, MOVING BODY POSITION DETECTION METHOD, AND COMPUTER-READABLE STORAGE MEDIUM - A moving body position detection system including an unit acquiring dead reckoning navigation information including a moving body direction; a unit identifying a moving body position based on the dead reckoning navigation information on the moving body; a unit predicting a predicted arrived position of the moving body after a predetermined interval from the position of the moving body based on the dead reckoning navigation information on the moving body; a unit calculating a difference direction angle between a direction from the position of the moving body to the predicted position and the direction of the moving body; a unit correcting the difference direction angle if it is equal to or larger than a threshold; and a unit updating the moving body position based on the difference direction angle. | 09-19-2013 |
| 20130253821 | System and Method for Determining a Uniform External Magnetic Field - A processing apparatus, optionally integrated into a device having a plurality of sensors including a magnetometer, generates navigational state estimates for the device. The processing apparatus has a magnetometer-assisted mode of operation in which measurements from the magnetometer are used to estimate the navigational state and an alternate mode of operation in which the navigational state of the device is estimated without measurements from the magnetometer. For a respective time period, the processing apparatus operates in the alternate mode of operation. During the respective time period, the processing apparatus collects a plurality of magnetometer measurements and determines whether they meet measurement-consistency requirements. If the measurements meet the measurement-consistency requirements, the processing apparatus transitions to the magnetometer-assisted mode of operation. If the measurements do not meet the measurement-consistency requirements, the processing apparatus continues to operate in the alternate mode of operation. | 09-26-2013 |
| 20140121963 | SMOOTHED NAVIGATION SOLUTION USING FILTERED RESETS - A navigation system includes at least one inertial sensor configured to detect motion of the system and generate inertial data; at least one aiding device configured to generate aiding device measurement data; at least one processing unit configured to generate an un-smoothed navigation solution inclusive of navigation state variable error resets based on the inertial data and the aiding device measurement data; wherein the at least one processing unit is further configured to sum the state variable error resets into a cumulative sum of the state variable error resets; wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets; and wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets from the un-smoothed navigation solution to generate a smoothed navigation solution. | 05-01-2014 |
| 20140358434 | Peer-Assisted Dead Reckoning - The present invention discloses a peer-assisted dead reckoning (PA-DR). When a first mobile device has a much larger location error than a second mobile device, its location can be optimized from that of the second device. For the first device, its optimized location is equal to the sum of the location of the second device and the relative location between two devices. | 12-04-2014 |
| 20140379256 | Mapping and Positioning System - A mapping and positioning apparatus may include an IMU module for monitoring movement through an environment, a scanner module, and a control unit. The IMU module is configured to monitor movement on the basis of detecting steps taken by a transporter. The scanner module may be configured to employ laser scanning to determine distances to objects or boundaries in the environment as the transporter moves the apparatus through the environment. The control unit may be configured to receive data from at least the IMU module and the scanner module and make an environmental determination to classify the environment. The control unit may be configured to generate map data based on the data received from the IMU module and the scanner module. The control unit may be configured to adaptively adjust processing of the data received from the IMU module and the scanner module based on a classification of the environment. | 12-25-2014 |
| 20150073707 | SYSTEMS AND METHODS FOR COMPARING RANGE DATA WITH EVIDENCE GRIDS - Systems and methods for comparing range data with evidence grids are provided. In certain embodiments, a system comprises an inertial measurement unit configured to provide inertial measurements; and a sensor configured to provide range detections based on scans of an environment containing the navigation system. The system further comprises a navigation processor configured to provide a navigation solution, wherein the navigation processor is coupled to receive the inertial measurements from the inertial measurement unit and the range measurements from the sensor, wherein computer readable instructions direct the navigation processor to identify a portion of an evidence grid based on the navigation solution; compare the range detections with the portion of the evidence grid; and calculate adjustments to the navigation solution based on the comparison of the range detections with the portion of the evidence grid to compensate for errors in the inertial measurement unit. | 03-12-2015 |
| 20160377437 | UNIT AND METHOD FOR IMPROVING POSITIONING ACCURACY - A unit for improving positioning accuracy of an autonomous vehicle driving on a road includes a first computation unit configured to compute a first position of the vehicle at a time T1 using data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle at the time T1 using data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first and second positions; a correction unit configured to correct an error parameter of the IMU, wherein the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2. | 12-29-2016 |
| 701504000 | Including gravitational effect in inertial sensing signal processing | 2 |
| 20120166082 | METHOD AND SYSTEM FOR INITIAL QUATERNION AND ATTITUDE ESTIMATION - Techniques are provided to determine an initial quaternion transform that is used to transform measurements received from accelerometer, rate sensor and inertial reference subsystems from a vehicle coordinate frame to an inertial navigation frame. Methods disclosed determine corrective angular rates to use as a feedback signal to rotate the quaternion transform to counter errors that result when transforming a gravity vector and an inertial reference vector (e.g., a magnetic North reference vector) that are being measured by the accelerometer and an inertial reference subsystems, respectively. The initial quaternion determination is performed during a time period when the only substantial acceleration on the vehicle is due to gravity. The initial quaternion can be used for processing various guidance, navigation and control functions. | 06-28-2012 |
| 20150081213 | SYSTEMS AND METHODS FOR A LIMB STRIKE DETECTOR - Systems and methods for a limb strike detector are provided. In certain embodiments, a system for detecting limb strikes comprises an inertial measurement unit (IMU) that provides inertial measurements; and a processing unit that receives the inertial measurements from the IMU. In certain embodiments, computer readable instructions direct the processing unit to determine multiple local vertical acceleration samples, wherein each local vertical acceleration sample in the multiple local vertical acceleration samples defines an acceleration component along the local vertical axis and an associated time; integrate the multiple local vertical acceleration samples to determine multiple local vertical velocity samples; identify limb strike regions from the multiple local vertical velocity samples, wherein a limb strike region is associated with a local vertical velocity sample in the plurality of local vertical velocity samples; and determine limb strike times based on the identified limb strike regions and the multiple local vertical acceleration samples. | 03-19-2015 |
| 701505000 | Having error correction of inputs to or outputs from an inertial sensing device | 18 |
| 20120203455 | Method of definition of a navigation system - A method of defining a navigation system comprising at least one inertial platform and involving terrain correlation, the estimations of the state vector of a platform being made by a navigation filter which furthermore accesses the data of an onboard map, allows the definition of the parameters relating to, respectively, the inertial platform and at least one terrain sensor allowing Terrain-Aided-Navigation, the definition of the parameters being carried out on the basis of computations carried out with the help of statistical syntheses not involving a modeling of the navigation filter. | 08-09-2012 |
| 20130006528 | NAVIGATION DEVICE AND PROCESS INTEGRATING SEVERAL HYBRID INERTIAL NAVIGATION SYSTEMS - A hybrid navigation device includes at least one auxiliary sensor adapted to deliver at least one auxiliary signal and a plurality of hybrid navigation systems, each including at least one inertial navigation system and one calculator configured to form an hybrid signal at the output of each hybrid navigation system. The hybrid navigation device includes a module for the detection of good operating condition and the weighting of the hybrid navigation systems, the module being configured to receive the at least one auxiliary signal, and the hybrid signals of each hybrid navigation system, respectively, to deduce therefrom an indicator of good operating condition and a weighting coefficient for each hybrid navigation system, and to calculate a weighted hybrid signal as a function of the hybrid signals and of the weighting coefficients of each hybrid navigation system, respectively. | 01-03-2013 |
| 20130041585 | METHODS AND APPARATUS FOR DETECTING, MEASURING, AND MITIGATING EFFECTS OF MOVING AN INERTIAL NAVIGATION DEVICE'S CRADLE - Methods and apparatus for detecting, measuring, and/or mitigating effects of moving an inertial navigation device's cradle are provided. In an example, provided are methods and apparatus to mitigate cradle rotation-induced inertial navigation errors. In an example, a method for mitigating an inertial navigation error includes receiving inertial sensor data and processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC). A second navigation algorithm, lacking a NHC, also processes the inertial sensor data simultaneously with the first algorithm. A cradle rotation is detected by the second navigation algorithm. A first navigation algorithm result, produced from the inertial sensor data generated during the cradle rotation, is discarded. The first algorithm can be computationally realigned, based on a second navigation algorithm result produced from the inertial sensor data generated during the cradle rotation. | 02-14-2013 |
| 20130218461 | Reduced Drift Dead Reckoning System - A system and a method are disclosed for a dead reckoning module. The dead reckoning module receives sensor information from an inertial sensor module indicating translation and rotation information. The dead reckoning module determines the position of the inertial sensor module between two periods of time by calculating a movement from the a first time period to an intermediate time period, and from the second time period to the intermediate time period, and determines the total movement between the first and second time periods using the movements relating to the intermediate period. | 08-22-2013 |
| 20130345972 | METHOD AND SYSTEM FOR COMPENSATING FOR SOFT IRON MAGNETIC DISTURBANCES IN A HEADING REFERENCE SYSTEM - A method and system for compensating for significant soft iron magnetic disturbances in a heading reference system, such as an aircraft heading reference system, such as an integrated standby unit; or a vehicle inertial system, provides a heading correction signal to the heading reference system when a detected difference in value between a gyro heading relative to magnetic north and a magnetometer reading during a defined measurement period exceeds a predetermined acceptable threshold value of change, such as one based on the expected gyro drift over that period. Upon receipt of the heading correction signal, the gyro heading is adjusted to maintain an accurate heading relative to true magnetic north. If this threshold value is not exceeded, then the magnetometer reading is used for the heading value. This method is iteratively repeated in order to continually maintain an accurate heading and may be employed for each heading measurement axis. | 12-26-2013 |
| 20140343844 | AZIMUTH UPDATE CONTROLLER FOR INERTIAL SYSTEMS - In one embodiment, a system includes a motion detector to determine a motion event or a no motion event for an inertial system. The determination of the events is based upon comparing at least one motion parameter in the inertial system to at least one predetermined threshold. An azimuth update controller (AUC) periodically requests motion detection events from the motion detector and corrects heading information to a previous positional state in the inertial system in response to receipt of the no motion event. | 11-20-2014 |
| 20160054126 | METHOD AND SYSTEM FOR COMPENSATING FOR SOFT IRON MAGNETIC DISTURBANCES IN A HEADING REFERENCE SYSTEM - A method and system for compensating for significant soft iron magnetic disturbances in a heading reference system, such as an aircraft heading reference system, such as an integrated standby unit; or a vehicle inertial system, provides a heading correction signal to the heading reference system when a detected difference in value between a gyro heading relative to magnetic north and a magnetometer reading during a defined measurement period exceeds a predetermined acceptable threshold value of change, such as one based on the expected gyro drift over that period. Upon receipt of the heading correction signal, the gyro heading is adjusted to maintain an accurate heading relative to true magnetic north. If this threshold value is not exceeded, then the magnetometer reading is used for the heading value. This method is iteratively repeated in order to continually maintain an accurate heading and may be employed for each heading measurement axis. | 02-25-2016 |
| 20160187142 | MAGNETIC ANOMALY TRACKING FOR AN INERTIAL NAVIGATION SYSTEM - One example includes an inertial navigation system (INS). The INS includes a navigation controller configured to generate inertial data associated with motion of a vehicle based on at least one navigation sensor configured on the vehicle and based on magnetic anomaly data. The INS also includes a magnetic anomaly INS-aiding system comprising a plurality of magnetometers distributed in a respective plurality of locations on the vehicle. The magnetic anomaly INS-aiding system can be configured to generate the magnetic anomaly data based on magnetic field measurements of a fixed magnetic anomaly at each of the plurality of magnetometers. | 06-30-2016 |
| 701507000 | Velocity | 1 |
| 20160153786 | DEVICES, PROGRAM PRODUCTS AND COMPUTER IMPLEMENTED METHODS FOR TOUCHLESS METROLOGY HAVING VIRTUAL ZERO-VELOCITY AND POSITION UPDATE | 06-02-2016 |
| 701509000 | By filtering | 9 |
| 20120158296 | ACCELEROMETER-AIDED GYROSCOPE - A system comprises a gyroscope configured to produce a gyroscope signal, an accelerometer configured to produce an accelerometer signal, and a filter unit coupled to the gyroscope and having a configurable bandwidth. The filter unit configured to filter the gyroscope signal. The system also comprises control logic that is configured to alter the bandwidth of the filter unit based on the accelerometer signal. | 06-21-2012 |
| 20130268192 | Calibrating a Tightly-Coupled GNSS/MU Integration Filter - Embodiments of the invention provide methods of calibrating a blending filter based on extended Kalman filter (EKF), which optimally integrates the IMU navigation data with all other satellite measurements (tightly-coupled integration filter). In one embodiment a coordinate transformation matrix using a latest position fix is created. The state variables (for user velocity) are transformed to a local navigation coordinate. The state variables of said integration filter is estimated. A blended calibrated position fix is the output of the method. | 10-10-2013 |
| 20130345973 | NON-CAUSAL ATTITUDE ESTIMATION FOR REAL-TIME MOTION COMPENSATION OF SENSED IMAGES ON A MOVING PLATFORM - An attitude estimator provides non-causal attitude estimates for real-time motion compensation of sensed images on a moving platform. A non-causal filter processes uncompensated attitude samples received with a latency from an IMU at a high rate clock to provide an attitude estimate that is strictly non-causal but satisfies a just-in-time (JIT) criteria for real-time motion compensation of images captured at a low rate clock. On-average the error of the non-causal attitude estimate is less than the error of a causal attitude estimate. If the lag added by the non-causal filter is greater than the latency, the effective transfer function of the non-causal filter has a negative gain slope that attenuates high frequency noise of the uncompensated attitude samples. The attitude estimator may also include a causal filter to generate a causal attitude estimate for real-time active stabilization of the image sensor at the high rate clock. | 12-26-2013 |
| 20160047629 | METHOD AND DEVICE FOR IMPROVING THE INERTIAL NAVIGATION OF A PROJECTILE - According to the invention, before firing said projectile (M) from the carrier (L), the mean biases of the accelerometers and of the gyrometers of the inertial unit (IM) of said craft are determined using the inertial unit (IL) of said carrier (L) and, during the inertial navigation of said craft (M), the measurements of the accelerometers and of the gyrometers output by said inertial unit (IM) of said craft (M) are corrected by said mean biases determined before launching. | 02-18-2016 |
| 701510000 | Kalman | 5 |
| 20120150441 | SYSTEMS AND METHODS FOR NAVIGATION USING CROSS CORRELATION ON EVIDENCE GRIDS - Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data. | 06-14-2012 |
| 20120209520 | ESTIMATION OF N-DIMENSIONAL PARAMETERS WHILE SENSING FEWER THAN N DIMENSIONS - Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors. | 08-16-2012 |
| 20130231860 | SYSTEMS AND METHODS TO INCORPORATE MASTER NAVIGATION SYSTEM RESETS DURING TRANSFER ALIGNMENT - 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. | 09-05-2013 |
| 20150362320 | CORRECTION OF NAVIGATION POSITION ESTIMATE BASED ON THE GEOMETRY OF PASSIVELY MEASURED AND ESTIMATED BEARINGS TO NEAR EARTH OBJECTS (NEOS) - Passively measured NEO bearings are used to augment an existing navigation system on-board the platform to correct the position estimate generated by the navigation system. The technology provides only a position correction based on passive NEO sightings but is applicable to a wide variety of platforms with different maneuvering profiles and update requirements. The technology directly calculates a position error based on the current position estimate and the passively measured and estimated bearings to three or more NEOs and provides the position error to the navigation system as a correction to the position estimate. The estimated bearings are computed from the current position estimate and the known orbits of the NEOs. The position error may be calculated from a single observation of multiple NEOs, allowing for frequent updates as needed and placing no restriction on platform maneuverability. | 12-17-2015 |
| 20160033279 | POSITION CALCULATION METHOD AND POSITION CALCULATION DEVICE - A position calculation device includes an acceleration sensor and a gyro sensor to detect a movement of the user which is mounted on the body of the user, an arithmetic processing unit which executes setting a traveling direction axis by using a detection result of the sensor, using a change in a traveling direction of the user and correcting the traveling direction axis, and calculating a position based on the detection result of the sensor by using predetermined constraint condition based on the traveling direction axis. | 02-04-2016 |
| 701511000 | Including matrix processing | 1 |
| 20120203456 | METHOD AND DEVICE FOR LONG-DURATION NAVIGATION - A long-term navigation method using an inertial unit associated with a system of axes X, Y, Z and mounted on a vehicle traveling relative to the Earth in order to measure its movements relative to an inertial frame of reference having axes Xi, Yi, and Zi. The method includes the steps of acting in permanent manner to measure an orientation of the system of axes X, Y, Z in the inertial frame of reference and applying a predetermined sequence of turnovers to the inertial unit in the inertial frame of reference about first and second axes that are substantially perpendicular to each other and in such a manner that at the end of the sequence the inertial unit is in a final orientation identical to its initial orientation relative to the inertial frame of reference, with the turnovers canceling within the sequence. | 08-09-2012 |
| 701512000 | Including vector processing | 4 |
| 20120059583 | METHOD OF PERSONAL NAVIGATION USING STRIDE VECTORING - A method of error compensation for an inertial measurement unit is provided. The method comprises providing a first object including an inertial measurement unit, providing a second object proximal to the first object, and determining an initial position and orientation of the first object. A motion update is triggered for the inertial measurement unit when the second object is stationary with respect to a ground surface. At least one position vector is measured between the first object and the second object when the first object is in motion and the second object is stationary. A distance, direction, and orientation of the second object with respect to the first object are calculated using the at least one position vector. An error correction is then determined for the inertial measurement unit from the calculated distance, direction, and orientation of the second object with respect to the first object. | 03-08-2012 |
| 20120136573 | ATTITUDE ESTIMATION FOR PEDESTRIAN NAVIGATION USING LOW COST MEMS ACCELEROMETER IN MOBILE APPLICATIONS, AND PROCESSING METHODS, APPARATUS AND SYSTEMS - A user-heading determining system ( | 05-31-2012 |
| 20140236479 | ATTITUDE ESTIMATION FOR PEDESTRIAN NAVIGATION USING LOW COST MEMS ACCELEROMETER IN MOBILE APPLICATIONS, AND PROCESSING METHODS, APPARATUS AND SYSTEMS - A user-heading determining system ( | 08-21-2014 |
| 20160131485 | METHOD OF DETERMINING A RADIUS OF PROTECTION ASSOCIATED WITH A NAVIGATION PARAMETER OF A HYBRID INERTIAL NAVIGATION SYSTEM, AND ASSOCIATED SYSTEM - Method of determining at least one radius of protection associated with a respective navigation parameter of a hybrid inertial navigation system by Kalman filtering employing introduction of a position bias into the state model of the Kalman filter representing the uncertainty associated with the reference safe position. | 05-12-2016 |
