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1. (WO2009043183) SYSTEM AND METHOD FOR INTELLIGENT TUNING OF KALMAN FILTERS FOR INS/GPS NAVIGATION APPLICATIONS
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2009/043183 International Application No.: PCT/CA2008/001780
Publication Date: 09.04.2009 International Filing Date: 06.10.2008
IPC:
G01C 21/16 (2006.01) ,G01C 21/28 (2006.01) ,G01S 5/14 (2006.01)
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10
by using measurement of speed or acceleration
12
executed aboard the object being navigated; Dead reckoning
16
by integrating acceleration or speed, i.e. inertial navigation
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26
specially adapted for navigation in a road network
28
with correlation of data from several navigational instruments
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
5
Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
02
using radio waves
14
Determining absolute distances from a plurality of spaced points of known location
Applicants:
TRUSTED POSITIONING INC. [CA/CA]; 3307 Barr Road NW Calgary, Alberta T2L 1M7, CA (AllExceptUS)
GOODALL, Chris [CA/CA]; CA (UsOnly)
EL-SHEIMY, Naser [CA/CA]; CA (UsOnly)
Inventors:
GOODALL, Chris; CA
EL-SHEIMY, Naser; CA
Agent:
JOHNSON, E. Peter; Parlee McLaws LLP 1500 Manulife Palce 10180 - 101 Street Edmonton, Alberta T5J 4K1, CA
Priority Data:
60/997,92804.10.2007US
Title (EN) SYSTEM AND METHOD FOR INTELLIGENT TUNING OF KALMAN FILTERS FOR INS/GPS NAVIGATION APPLICATIONS
(FR) SYSTÈME ET PROCÉDÉ POUR AFFINAGE INTELLIGENT DE FILTRES DE KALMAN POUR DES APPLICATIONS DE NAVIGATION INS/GPS
Abstract:
(EN) Disclosed is a reinforcement learning technique for online tuning of integration filters of navigation systems needing a priori tuning parameters, such as Kalman Filters and the like. The method includes receiving GNSS measurements from the GNSS unit of the navigation system; and IMU measurements from IMU of the navigation system. The method further includes providing a priori tuning parameters to tune the integration filter of the navigation system. The method further includes processing the GNSS and IMU measurements using the tuned integration filter to compute a position estimate and updating the a priori turning parameters based on the computer position estimate.
(FR) La présente invention concerne une technique d'apprentissage de renforcement pour l'affinage en ligne de filtres d'intégration de systèmes de navigation nécessitant des paramètres d'affinage a priori, comme des filtres de Kalman et analogues. Le procédé comprend la réception de mesures GNSS de l'unité GNSS du système de navigation, ainsi que des mesures IMU de l'unité de mesure inertielle (IMU) du système de navigation. Le procédé comprend également l'obtention de paramètres d'affinage a priori pour affiner le filtre d'intégration du système de navigation. Le procédé comprend également le traitement des mesures GNSS et IMU à l'aide du filtre d'intégration affiné pour calculer une estimation de position et mettre à jour les paramètres d'affinage a priori basés sur l'estimation de position de l'ordinateur.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MT, NL, NO, PL, PT, RO, SE, SI, SK, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
CA2701529