Navigation Error Correction via Fusion Filter Timestamping
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Solution Overview
Problem
Integrated navigation systems face inaccuracies due to sensor errors and delayed correction measurements, which are not effectively addressed in real-time applications, especially in multi-sensor environments where data availability and timing inconsistencies cause systematic errors.
Innovation Solution
A method that stores base system sensor data and output values with time stamps, allowing only timely corresponding data to be used in a fusion filter to calculate correction values and increments, which account for error changes over time, ensuring accurate and consistent corrections even with delayed measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If correction measurements are used to improve accuracy, then measurement precision is improved, but device complexity increases due to multiple sensors and fusion filters
Solution Approach 1:
The patent combines base navigation system output with correction system measurements through a fusion filter to produce corrected output values. Multiple data sources (IMU, GPS, odometry) are merged into a unified correction mechanism that improves position accuracy while managing system complexity through integrated processing.
Solution Approach 2:
The fusion filter acts as an intermediary between the base navigation system and correction system measurements. It processes and reconciles data from multiple sensors, computing correction values that are then applied to the base system output, thereby improving accuracy without requiring direct complex interactions between all sensor components.
2Reliability
If delayed correction measurements are processed, then reliability is improved by using available data, but measurement precision deteriorates due to time lags causing systematic errors
Solution Approach 1:
The system stores base navigation output values and correction system sensor data with time stamps for later processing. When correction measurements become available, even if delayed, the stored data is used to compute corrections for the appropriate time periods, ensuring that available data is utilized without compromising the temporal accuracy of the corrections.
Solution Approach 2:
The patent creates copies of base navigation output values and stores them with time stamps for future correction processing. This allows delayed correction measurements to be applied to historical data copies, maintaining the integrity of real-time navigation output while enabling post-processing accuracy improvements when correction data becomes available.
3Productivity
If real-time processing is maintained, then productivity is improved, but measurement precision worsens due to inability to process delayed corrections
Solution Approach 1:
The system segments processing into real-time base navigation output generation and separate correction computation. The base navigation system operates in real-time with high productivity, while correction values are computed separately when correction measurements are available, applying improvements without compromising real-time performance requirements.
Solution Approach 2:
The patent applies partial correction action by computing and applying corrections only when correction measurements are available, rather than requiring complete correction processing for every output. This allows real-time processing to continue with partial corrections, maintaining productivity while progressively improving precision as correction data becomes available.
4Measurement precision
If fusion filter is used to compute correction values, then measurement precision is improved, but use of energy increases due to continuous processing requirements
Solution Approach 1:
The fusion filter operates periodically when correction measurements are available rather than continuously. Correction values are computed at intervals when GPS or other correction data is received, reducing continuous computational energy requirements while maintaining measurement precision through periodic updates to the navigation solution.
Solution Approach 2:
The system uses available correction measurements to self-correct the base navigation output without requiring continuous external processing intervention. The fusion filter leverages incoming correction data to automatically compute and apply corrections, reducing the need for continuous high-energy processing while maintaining accuracy.
Data Source
AI summary
A system corrects errors of a measurement system. The system comprises base measurement system BS and a correction system. BS sensor data is acquired and provided to an algorithm. The data is stored associated with a time stamp indicating time of sensing. Output values are calculated and stored with time stamps indicating time of the sensor data upon which the output values are calculated. Data having corresponding time stamps are supplied to a filter where correction values and correction increments are calculated. The correction increments reflect the change of error in a base system output value over time due to integration or summing up BS sensor data errors in the processing algorithm. The correction values are applied to the BS data and corrected base navigation output values are calculated. These output values are corrected by the correction increments. Output values of the processing algorithm are further processed in succeeding applications.