Navigation system and method of obtaining accurate navigational information in signal challenging environments

摘要

A present invention embodiment includes a navigation system with a front-end GPS receiver, auxiliary sensors and a digital signal processor providing filtering and other processing. The navigation system enhances a UTC type architecture by employing an inertial compensation unit and a stochastic regulator. The inertial compensation unit compensates for inertial errors within the sensors, while the stochastic regulator applies an optimal stochastic control law to control system operation. The inertial compensation unit and stochastic regulator mitigate instability within the navigation system and provide: the functionality to attain high position accuracy in the sub-meter range that is stable and reliable; an optimal solution evident in the process of signal recovery time after loss and reacquisition, thereby resulting in signal-loss recovery with an order of magnitude improvement; and the ability to mitigate inertial errors that originate in the sensors. The navigation system provides navigation information for indoor and urban environmental conditions.