公开(公告)号：US08311739B2

公开(公告)日：2012-11-13

申请号：US12362383

申请日：2009-01-29

Applicant: James R. Huddle

Inventor： James R. Huddle

IPC: G01C21/00

CPC classification number: G01C21/16 ,  G01C25/005

Abstract: Methods and apparatus for: (a) the correction of one or more elements determined from a first set of continuous gyro and accelerometer measurements comprising using a second set of discontinuously measured higher accuracy accelerometer measurements doubly integrated in an inertial coordinate system, (b) determining relative movement of a vehicle using a first set of acceleration measurements that do not include components of acceleration caused by the Earth's gravitational field, and a second set of acceleration measurements that do include components of acceleration caused by the Earth's gravitational field; and (c) correcting errors in an inertial navigation system positioned in a vehicle comprising using independently measured changes in position of the vehicle relative to an inertial coordinate frame.

Abstract translation: 用于（a）对由第一组连续陀螺仪和加速度计测量确定的一个或多个元件进行校正的方法和装置，包括使用双重集成在惯性坐标系中的第二组不连续测量的较高精度的加速度计测量，（b）确定 使用不包括由地球引力场引起的加速度分量的第一组加速度测量的车辆的相对运动，以及包括由地球重力场引起的加速度分量的第二组加速度测量; 以及（c）校正位于车辆中的惯性导航系统中的误差，包括相对于惯性坐标系使用独立测量的车辆位置变化。

公开(公告)号：US20090204323A1

公开(公告)日：2009-08-13

申请号：US12362383

申请日：2009-01-29

Applicant: James R. Huddle

Inventor： James R. Huddle

IPC: G01C21/00

CPC classification number: G01C21/16 ,  G01C25/005

Abstract: Methods and apparatus for: (a) the correction of one or more elements determined from a first set of continuous gyro and accelerometer measurements comprising using a second set of discontinuously measured higher accuracy accelerometer measurements doubly integrated in an inertial coordinate system, (b) determining relative movement of a vehicle using a first set of acceleration measurements that do not include components of acceleration caused by the Earth's gravitational field, and a second set of acceleration measurements that do include components of acceleration caused by the Earth's gravitational field; and (c) correcting errors in an inertial navigation system positioned in a vehicle comprising using independently measured changes in position of the vehicle relative to an inertial coordinate frame.

Abstract translation: 用于（a）对由第一组连续陀螺仪和加速度计测量确定的一个或多个元件进行校正的方法和装置，包括使用双重集成在惯性坐标系中的第二组不连续测量的较高精度的加速度计测量，（b）确定 使用不包括由地球引力场引起的加速度分量的第一组加速度测量的车辆的相对运动，以及包括由地球重力场引起的加速度分量的第二组加速度测量; 以及（c）校正位于车辆中的惯性导航系统中的误差，包括相对于惯性坐标系使用独立测量的车辆位置变化。

公开(公告)号：US07509216B2

公开(公告)日：2009-03-24

申请号：US11087902

申请日：2005-03-23

Applicant: James R. Huddle

Inventor： James R. Huddle

IPC: G01C21/00 ,  G01C17/38

CPC classification number: G01C21/16 ,  G01C25/005

Abstract: Methods and apparatus for: (a) the correction of one or more elements determined from a first set of continuous gyro and accelerometer measurements comprising using a second set of discontinuously measured higher accuracy accelerometer measurements doubly integrated in an inertial coordinate system, (b) determining relative movement of a vehicle using a first set of acceleration measurements that do not include components of acceleration caused by the Earth's gravitational field, and a second set of acceleration measurements that do include components of acceleration caused by the Earth's gravitational field; and (c) correcting errors in an inertial navigation system positioned in a vehicle comprising using independently measured changes in position of the vehicle relative to an inertial coordinate frame.

Abstract translation: 用于（a）对由第一组连续陀螺仪和加速度计测量确定的一个或多个元件进行校正的方法和装置，包括使用双重集成在惯性坐标系中的第二组不连续测量的较高精度的加速度计测量，（b）确定 使用不包括由地球引力场引起的加速度分量的第一组加速度测量的车辆的相对运动，以及包括由地球重力场引起的加速度分量的第二组加速度测量; 以及（c）校正位于车辆中的惯性导航系统中的误差，包括相对于惯性坐标系使用独立测量的车辆位置变化。

公开(公告)号：US07206694B2

公开(公告)日：2007-04-17

申请号：US10892577

申请日：2004-07-16

Applicant: James R. Huddle ,  Victor K. Chueh

Inventor： James R. Huddle ,  Victor K. Chueh

IPC: H04B7/185 ,  G01S5/00

CPC classification number: G01C21/16

Abstract: Navigation systems provide accurate position, velocity and attitude information at one or more slave inertial measurement units (SIMU), mounted and spaced apart from a master inertial navigation system (MINS).

Abstract translation: 导航系统在与主惯性导航系统（MINS）安装和间隔开的一个或多个从属惯性测量单元（SIMU）上提供准确的位置，速度和姿态信息。

公开(公告)号：US08224574B2

公开(公告)日：2012-07-17

申请号：US11124724

申请日：2005-05-09

Applicant: Daniel A. Tazartes ,  Charles H. Volk ,  James R. Huddle ,  Jerome S. Lipman ,  Maureen Lipman, legal representative

Inventor： Daniel A. Tazartes ,  Charles H. Volk ,  James R. Huddle ,  Jerome S. Lipman

IPC: G01C21/00

CPC classification number: G01C21/16 ,  G01C25/005

Abstract: An exemplary navigation system uses a master navigation component at a first location in a vehicle and a slave navigation component at a second location that is a variable displacement to the first location due to physical deformation of the vehicle. Static and dynamic location components provide static and dynamic information of the displacement between the first and second locations. An error estimator estimates errors in the navigational measurement data generated by the slave navigation component based on the navigational measurement data generated by the master navigation component and the displacement information provided by the static and dynamic location components. The master navigation component corrects the navigation measurement data of the slave navigation component based on the determined error and translates the corrected navigation measurement data of the slave navigation component into navigational measurement data in its coordinate system.

Abstract translation: 示例性导航系统使用车辆中的第一位置处的主导航部件和由于车辆的物理变形而在第一位置处可变位移的第二位置处的从属导航部件。 静态和动态位置组件提供第一和第二位置之间位移的静态和动态信息。 误差估计器基于由主导航部件生成的导航测量数据和由静态和动态位置分量提供的位移信息来估计由从属导航部件生成的导航测量数据中的误差。 主导航部件基于所确定的误差校正从属导航部件的导航测量数据，并将从属导航部件的校正导航测量数据转换为其坐标系中的导航测量数据。

公开(公告)号：US5640325A

公开(公告)日：1997-06-17

申请号：US243889

申请日：1988-09-13

Applicant: Hal W. Banbrook ,  James R. Huddle ,  Emery L. Moore

Inventor： Hal W. Banbrook ,  James R. Huddle ,  Emery L. Moore

IPC: G01C21/16 ,  G01C21/00

CPC classification number: G01C21/16

Abstract: A system, which uses inertial measurement units, is shown for determining the position and orientation of a towed array of sensors used for target detection. The system uses an onboard master inertial navigation system and a relative position determination mechanism to generate a first estimated position for each inertial measurement unit within the array. Each inertial measurement unit measures force and angular change information used by an onboard computer to create a second estimated position by known methods for each inertial sensor. An error signal represented by the difference between the two estimated positions for each inertial unit is processed over time by a Kalman filter to reduce the error in the heading and attitude determined for each inertial unit to establish an accurate location for each inertial unit and, thus, the towed array of such units.

Abstract translation: 示出了使用惯性测量单元的系统，用于确定用于目标检测的拖曳传感器阵列的位置和方向。 系统使用车载主惯性导航系统和相对位置确定机构来产生阵列内的每个惯性测量单元的第一估计位置。 每个惯性测量单元测量车载计算机使用的力和角度变化信息，以通过每个惯性传感器的已知方法创建第二估计位置。 由每个惯性单元的两个估计位置之间的差表示的误差信号通过卡尔曼滤波器随时间被处理，以减少为每个惯性单元确定的航向和姿态误差，以建立每个惯性单元的准确位置，因此 ，这些单位的拖曳阵列。

公开(公告)号：US5345241A

公开(公告)日：1994-09-06

申请号：US986333

申请日：1992-12-07

Applicant: James R. Huddle

Inventor： James R. Huddle

IPC: G01C21/00 ,  G01C21/16 ,  G01C21/08 ,  G06G7/78

CPC classification number: G01C21/16 ,  G01C21/005

Abstract: A method and apparatus for performing on-board corrections to the computed navigation variables of an inertial system on an aircraft while flying over a body of water. Onboard instruments, including a barometric altimeter and a radar altimeter, measure the vertical distance of the aircraft above an ellipsoidal model of the earth and above the body of water respectively. An on-board computer calculates the differences between such heights over a plurality of points along the path the aircraft travels over the water as indicated by its inertial navigation system. The differences are compared with a map of the undulation of the geoid encompassing the region to determine the deviation of the navigated course from the true course. Appropriate corrections to the aircraft's inertial system may then be made to reduce error.

Abstract translation: 一种方法和装置，用于对飞行器上的惯性系统的计算的导航变量执行机载修正，同时飞越一个水体。 车载仪器，包括气压高度计和雷达高度计，可以分别测量飞机高于地球椭圆模型和水体以上的垂直距离。 车载计算机计算飞行器沿着惯性导航系统所指示的飞机在水面上行进的路径上的多个点之间的这些高度之间的差异。 将差异与包含该地区的大地水准面的波动图进行比较，以确定导航过程与真实过程的偏差。 然后可以对飞机的惯性系统进行适当的更正，以减少误差。

公开(公告)号：US06208937B1

公开(公告)日：2001-03-27

申请号：US09124819

申请日：1998-07-29

Applicant: James R. Huddle

Inventor： James R. Huddle

IPC: G06G778

CPC classification number: G01C21/165 ,  G01S3/78 ,  G01S17/875 ,  G01S19/49

Abstract: The invention is a method and apparatus for generating navigation data. The method comprises the steps of (a) determining the position vector for one or more observation points in an earth-fixed reference frame and (b) determining either (1) the position vector for a target point in the earth-fixed reference frame from directions in either a model-based or a gravity-based reference frame from the one or more observation points to the target point or (2) the directions in either a model-based or a gravity-based reference frame from the one or more observation points to the target point from the position vector for the target point in the earth-fixed reference frame, the model-based reference frame having a vertical axis with a specified orientation with respect to a normal to an ellipsoidal model of the earth and having horizontal axes with specified orientations with respect to the earth-fixed reference, the gravity-based reference frame having a vertical axis with a specified orientation with respect to the gravity vector and having horizontal axes with specified orientations with respect to the earth-fixed reference frame. The apparatus for practicing the method for generating navigation data comprises an inertial navigation system, a GPS antenna and receiver, and direction-finding apparatus.

Abstract translation: 本发明是用于生成导航数据的方法和装置。 该方法包括以下步骤：（a）确定地球固定参考系中的一个或多个观测点的位置矢量，（b）确定（1）地球固定参考系中的目标点的位置矢量， 从一个或多个观察点到目标点的基于模型或基于重力的参考帧中的方向，或者（2）来自一个或多个观察点的基于模型或基于重力的参考帧中的方向 从地球固定参考系中的目标点的位置矢量指向目标点，基于模型的参考系具有相对于地球的椭圆体模型的法线具有指定取向的垂直轴并且具有水平 具有相对于地固定基准的指定取向的轴，基于重力的参考系具有相对于重力矢量具有指定取向的垂直轴并且具有水平轴的s 相对于地球固定参考系的方向。 用于实施导航数据生成方法的装置包括惯性导航系统，GPS天线和接收机以及测向装置。

公开(公告)号：US07406379B2

公开(公告)日：2008-07-29

申请号：US11125044

申请日：2005-05-09

Applicant: Charles H. Volk ,  James R. Huddle ,  Daniel A. Tazartes ,  Maureen Lipman, legal representative

Inventor： Jerome S. Lipman

IPC: G01C21/26 ,  G01C21/30

CPC classification number: G01C21/16 ,  G01C21/005 ,  G01S5/0284 ,  G01S19/51

Abstract: An exemplary navigation system uses a master navigation component at a first location with a first sensor in a vehicle and a slave navigation component with a second sensor at a second location that is a variable displacement to the first location due to physical deformation of the vehicle. Static and dynamic location components provide static and dynamic information of the displacement between the first and second locations. A flexural model based on the deformation characteristics calculates the dynamic displacement. An error estimator estimates errors in the navigation measurement data of the slave navigation component based on the displacement information. The master navigational component corrects the navigation measurement data of the slave navigation component based on the determined error, translates the corrected navigation measurement data of the slave navigation component into navigation measurement data in its coordinate system, and combines the output of the second sensor based on the corrected navigation measurement data with the output of the first sensor into a combined result.

Abstract translation: 示例性导航系统在第一位置处使用车辆中的第一传感器的主导航部件和由于车辆的物理变形而在第二位置处具有可变位移到第一位置的第二传感器的从属导航部件。 静态和动态位置组件提供第一和第二位置之间位移的静态和动态信息。 基于变形特性的弯曲模型计算出动态位移。 误差估计器基于位移信息估计从属导航部件的导航测量数据中的误差。 主导航部件基于确定的误差校正从属导航部件的导航测量数据，将从属导航部件的校正导航测量数据转换为其坐标系中的导航测量数据，并将第二传感器的输出基于 校正后的导航测量数据与第一传感器的输出相结合。

公开(公告)号：US07142983B2

公开(公告)日：2006-11-28

申请号：US10884048

申请日：2004-07-02

Applicant: James R. Huddle

Inventor： James R. Huddle

IPC: G01C21/16

CPC classification number: G01C19/58 ,  G01C21/165

Abstract: Embodiments of the system provide for processing non-continuous atom interferometer inertial instrument measurements and continuous wide bandwidth instrument measurements with a gravity database. An embodiment may have: a gravity disturbance vector database having gradients; a comparator that compares real-time gravity gradiometer gradient measurements with gradients from the database to provide an observation; and a Kalman filter that receives the observation on an input thereof, the Kalman filter outputting a modeled error state vector; wherein the gravity disturbance vector from the gravity database is used to remove a known portion of an actual gravity disturbance vector from specific force measurements of high bandwidth conventional inertial accelerometers to thereby form navigation data. An embodiment of the method that may have the steps of: providing a gravity disturbance vector database having stored gradients; providing real-time measurements of gravity gradients; and processing the stored gradients and the gravity gradients to form navigational data.

Abstract translation: 该系统的实施例提供用重力数据库处理非连续原子干涉仪惯性仪器测量和连续宽带仪器测量。 实施例可以具有：具有梯度的重力扰动矢量数据库; 比较器将实时重力梯度梯度测量与来自数据库的梯度进行比较以提供观察; 以及卡尔曼滤波器，其在其输入端接收观测值，所述卡尔曼滤波器输出建模误差状态矢量; 其中来自重力数据库的重力扰动矢量用于从高带宽常规惯性加速度计的特定力测量中去除已知部分的实际重力扰动矢量，从而形成导航数据。 该方法的实施例可以具有以下步骤：提供具有存储梯度的重力干扰矢量数据库; 提供重力梯度的实时测量; 并处理存储的梯度和重力梯度以形成导航数据。