METHOD AND APPARATUS FOR DETERMINATION OF MISALIGNMENT BETWEEN DEVICE AND VESSEL USING RADIUS OF ROTATION

摘要

The present disclosure relates to a method and apparatus for determining the misalignment between a device and a platform (such as for example a vessel or vehicle) using radius of rotation of the device, wherein mobility of the device may be constrained or unconstrained within the platform. The device may be moved or tilted to any orientation within the platform and still provide a seamless navigation solution without degrading the performance of this navigation solution. This method can utilize measurements (readings) from sensors (such as for example, accelerometers, gyroscopes, etc.) whether in the presence or in the absence of navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

主权项

1. A method for determining misalignment between a device and a platform using radius of rotation of the device, wherein the device comprises sensors capable of providing sensor readings, and means to calculate heading angle of the device, the method comprising the steps of:
a) calculating the radius of rotation of the device from the sensor readings; b) determining if the radius of rotation is a small radius of rotation; c) identifying if a change in device heading angle is caused by a turn of the device within the platform or a turn of the platform that contains the device by using the determination of whether the radius of rotation is a small radius; and d) adjusting the misalignment if the device heading angle change is because of a turn of the device within the platform, and if the device heading angle change is because of a turn of the device within the platform the change in the device heading angle is the detected misalignment change used to adjust the misalignment.