US 11,859,979 B2
Delta position and delta attitude aiding of inertial navigation system
Richard S Russell, Roseville, MN (US); Ctibor Mazal, Brno (CZ); Andrew Stewart, Chanhassen, MN (US); and Vijay Venkataraman, Excelsior, MN (US)
Assigned to Honeywell International Inc., Charlotte, NC (US)
Filed by Honeywell International Inc., Morris Plains, NJ (US)
Filed on Feb. 20, 2020, as Appl. No. 16/796,822.
Prior Publication US 2023/0304801 A1, Sep. 28, 2023
Int. Cl. G01C 21/16 (2006.01); G01C 21/00 (2006.01); G01S 19/49 (2010.01); G01S 19/47 (2010.01)
CPC G01C 21/165 (2013.01) [G01C 21/005 (2013.01); G01S 19/47 (2013.01); G01S 19/49 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A device comprising:
an inertial navigation system, the inertial navigation system comprising:
one or more inertial sensors configured to produce inertial measurements of motion for a vehicle;
an output interface for providing navigation parameters based on the inertial measurement to an external processing device on the vehicle that fuses the navigation parameters from the inertial navigation system with information from external sensors coupled to the external processing device; and
an input interface for receiving measurements from the external processing device configured to calculate measurements, wherein the measurements comprise at least one of:
delta attitude and/or delta position measurements from an external system; and
position and attitude information in an arbitrary map frame; and
a computation device separate from the external processing device that is configured to calibrate the inertial measurements from the one or more inertial sensors using the received measurements, wherein the vehicle uses the calibrated inertial measurements to calculate a navigation solution that estimates the state of the vehicle while traveling.