INS Velocity Correction Using Centripetal Acceleration Feedback
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Solution Overview
Problem
Inertial navigation systems (INS) suffer from sensor bias and other errors, particularly in dynamic environments, leading to degraded performance over time, despite improvements from non-holonomic constraints.
Innovation Solution
Utilize centripetal acceleration experienced by a vehicle carrying the INS to correct velocity estimates by updating filters, thereby mitigating sensor errors and improving navigation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If non-holonomic constraints are applied to improve positioning performance, then positioning accuracy is improved, but sensor bias and other errors still cause performance degradation over time
Solution Approach 1:
The patent implements feedback by using centripetal acceleration measurements from the IMU to continuously correct velocity estimates in the navigation filter. The corrected velocity information feeds back into the state estimation process, compensating for sensor bias and drift accumulation over time, thereby maintaining reliable positioning performance during extended periods without GNSS updates
Solution Approach 2:
The patent changes the parameter used for velocity estimation by utilizing centripetal acceleration derived from IMU measurements during turning maneuvers. This alternative parameter (centripetal acceleration) provides an independent measurement path that does not suffer from the same bias accumulation issues as standard dead reckoning, thus improving performance stability
2Adaptability or versatility
If dead reckoning is used to determine current position, then positioning is achieved without external references, but error accumulation occurs over time
Solution Approach 1:
The patent enables the INS to self-correct by utilizing its own IMU measurements of centripetal acceleration during turns. The system serves itself by generating correction signals from internal sensor data without requiring external references, thus maintaining independence while reducing error accumulation through self-validation and correction mechanisms
3Reliability
If filters are used to estimate system errors, then error compensation is provided, but filter performance is limited by filter parameters
Solution Approach 1:
The patent introduces centripetal acceleration as an intermediary measurement that bridges the gap between IMU raw data and navigation state estimation. This intermediary provides additional independent information that constrains the filter solution, reducing dependency on carefully tuned filter parameters while improving error compensation effectiveness through additional measurement constraints
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances INS accuracy by correcting velocity estimates and reducing drift, allowing for more precise vehicle location determination even in environments where GNSS is unavailable, such as urban areas.
Implementation Method 1
determine, in conjunction with a turn made by a vehicle carrying the INS, centripetal acceleration experienced by the vehicle
Data Source
AI summary
A method, apparatus and computer program product provide for error mitigation in an inertial navigation system (INS) based upon centripetal acceleration experienced by a vehicle that carries the INS. In the context of a method, the centripetal acceleration experienced by a vehicle carrying the INS that is making a turn is determined. The method also includes determining a velocity of the vehicle in reliance upon the centripetal acceleration. Based on the velocity determined in reliance upon the centripetal acceleration, the method further includes updating one or more filters of the INS to correct a velocity estimate provided by the INS.