Method and apparatus for improved navigation of a moving platform

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.

主权项

1. A navigation module, for use with a moving platform, the module comprising:
a receiver for receiving absolute navigational information from an external source, and producing an output of navigational information indicative thereof, an assembly of self-contained sensors capable of obtaining readings relating to navigational information and producing an output indicative thereof, a source of speed information capable of obtaining speed readings and producing an output indicative thereof, wherein the speed information is substantially uninterrupted, at least one processor, coupled to receive the information from the receiver, sensor assembly and source of speed information, and operative to integrate the information to produce a navigation solution, wherein the navigation solution uses the speed information to decouple the motion of the platform from the sensor assembly output, wherein the at least one processor is further programmed to use an algorithm capable of modeling advanced models of stochastic errors in the sensor assembly.