US 12,078,738 B2
Method, apparatus, and computer readable medium for a multi-source reckoning system
Nathan Donham, Southern Pines, NC (US); and Joshua Burton, Asheville, NC (US)
Assigned to MSRS LLC, Granby, CT (US)
Filed by MSRS LLC, Granby, CT (US)
Filed on Jan. 19, 2022, as Appl. No. 17/579,251.
Claims priority of provisional application 63/277,556, filed on Nov. 9, 2021.
Prior Publication US 2023/0143872 A1, May 11, 2023
Int. Cl. G01S 19/47 (2010.01); G01S 19/25 (2010.01); G01S 19/26 (2010.01)
CPC G01S 19/47 (2013.01) [G01S 19/254 (2013.01); G01S 19/26 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method, executed by a computing device, for dynamically computing a derived multi-source reckoning system location, the method comprising:
receiving, by the computing device, data from an inertial measurement unit, including GPS data, velocity data, and bearing data;
receiving, by the computing device, data from a digital magnetic compass, including bearing data;
receiving, by the computing device, data from a Doppler sensor, including velocity data and distance data;
determining, by the computing device, whether GPS location data is in consensus with a previous derived multi-source reckoning system location;
determining, by the computing device, a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor;
determining, by the computing device, a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass;
determining, by the computing device, a consensus geolocation value from a weighted average of data from the inertial measurement unit and the previous derived multi-source reckoning system location;
deriving, by the computing device, a distance between the previous derived multi-source reckoning system location and the consensus geolocation value using a haversine approach;
deriving, by the computing device, a new location using an archaversine approach using the previous derived multi-source reckoning system location, the consensus distance value, and the consensus heading value;
determining, by the computing device, a derived multi-source reckoning system location from the distance between the previous derived multi-source reckoning system location and the new location; and
displaying, by the computing device, on a user interface a GPS fix icon and a different multi-source reckoning system fix (MSRS fix) icon, the GPS fix icon indicating the GPS location and the MSRS fix icon indicating the derived new location, the GPS fix icon and the MSRS fix icon are spaced apart from each on the user interface to show a degree of certainty of positioning to a user,
wherein, only the MSRS fix icon is displayed on the user interface and not the GPS fix icon when the multi-source reckoning system location determines that the GPS is unavailable or unreliable.