US 12,480,766 B2
Method and apparatus for reliance upon centripetal acceleration to mitigate error in an inertial navigation system
Jani Käppi, Tampere (FI)
Assigned to HERE GLOBAL B.V., Eindhoven (NL)
Filed by HERE Global B.V., Eindhoven (NL)
Filed on Oct. 4, 2022, as Appl. No. 17/937,855.
Prior Publication US 2024/0110792 A1, Apr. 4, 2024
Int. Cl. G01C 21/16 (2006.01)
CPC G01C 21/183 (2020.08) [G01C 21/165 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An apparatus configured to mitigate error in an inertial navigation system (INS), the apparatus comprising processing circuitry and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the processing circuitry, cause the apparatus at least to:
in conjunction with a turn made by a vehicle carrying the INS, determine centripetal acceleration experienced by the vehicle;
determine a velocity of the vehicle in reliance upon the centripetal acceleration;
based on the velocity determined in reliance upon the centripetal acceleration, update one or more filters of the INS to correct a velocity estimate provided by the INS;
store sensor samples and filter states of the INS in a history buffer in associated with time values; and
in combination with the velocity determined in reliance upon the centripetal acceleration, backwards process the sensor samples and the filter states stored in the history buffer in a reverse chronological direction to propagate corrected filter states, thereby correcting a location estimate of the vehicle at one or more points in time prior to the turn made by the vehicle.