Single-Filter GPS-Aided Inertial Navigation System
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Solution Overview
Problem
Existing multi-sensor federated navigation systems are complex and costly due to the need for multiple filters and high-end sensors, which increases computational burden and software complexity, while providing limited accuracy improvements over single-IMU/single-GPS inertial navigation systems.
Innovation Solution
A GPS-aided inertial navigation system that uses a single navigation filter with minimal algorithmic and computational changes, incorporating multiple IMUs and GPS receivers, which computes real-time least-squares solutions for angular acceleration and applies individual corrections to each sensor, reducing the need for complex filtering schemes and high-end hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple filters and high-end sensors are used in federated navigation systems, then navigation accuracy is improved, but device complexity and computational burden increase significantly
Solution Approach 1:
The patent merges multiple IMUs and GPS receivers into a unified navigation system that uses a single filter architecture. Instead of implementing separate filters for each sensor (as in traditional federated navigation), the system combines all sensor inputs and processes them through one centralized filter, reducing software complexity while maintaining the ability to utilize multiple sensors for improved accuracy
Solution Approach 2:
The single filter architecture serves multiple functions simultaneously: it processes data from multiple IMUs, multiple GPS receivers, and integrates inertial and GPS measurements. This universal filter approach eliminates the need for multiple specialized filters while handling all navigation tasks, thereby reducing device complexity without sacrificing navigation accuracy
2Measurement precision
If multiple filters and high-end sensors are used in federated navigation systems, then navigation accuracy is improved, but computational burden increases
Solution Approach 1:
The patent combines multiple sensor inputs and processing operations into a single filter architecture, reducing the total computational load. By merging the filtering operations that would otherwise be distributed across multiple filters, the system performs fewer redundant calculations while still processing data from all sensors, thereby reducing energy consumption and computational burden
3Reliability
If multiple IMUs and GPS receivers are used, then fault detection and isolation capability is improved, but device complexity increases
Solution Approach 1:
The patent merges fault detection capabilities into the single filter architecture, where the filter processes data from all sensors and can identify faulty measurements through residual analysis and statistical tests. This unified approach maintains fault detection capability while avoiding the need for separate fault detection software for each sensor or filter, thereby reducing overall software complexity
Data Source
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AI summary
A GPS-aided inertial navigation method includes providing multiple sensors including multiple inertial measurement units (IMUs) and at least one global positioning system receivers and antennas (GPSs) and computer with embedded navigation software. The computer interfaces with all IMUs and all GPS receivers; running, in parallel, in multiple standard inertial navigation (IN) schemes; computes the mean of all the INSs to obtain a fused IN solution for the IMUs' mean location; computes the mean of all the GPS solutions to obtain a fused GPS solution for the GPS antennas' mean location; applies a lever-arm correction, with the vector from the mean IMU location to the 'mean antenna' location, to the fused GPS solution; feeds the fused IN solution and the lever- arm corrected fused GPS solution to a single navigation filter, as if there were a single IMU and a single GPS; and runs an IMU/IN/GPS correction module.