Integrated inertial vms navigation with inertial odometer...

G - Physics – 01 – C

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G01C 21/16 (2006.01) G01C 21/28 (2006.01) G01C 22/02 (2006.01) G05D 1/08 (2006.01)

Patent

CA 2440201

A system for determining accurate inertial navigation data of a vehicle (1) while moving must compensate for the orientation differences between an upper body and a lower body of the vehicle (1). These orientation differences are used to increase the accuracy of the aided inertial navigation solution. An odometer on the lower body is used to reduce errors in the inertial date arising from the movement between the upper and low bodies and errors in the odometer associated with vehicle pitch are reduced by sensing pitch changes with the inertial navigation data.

L'invention concerne un système permettant de déterminer des données de navigation inertielle d'un véhicule lors de son déplacement, et de compenser les différences d'orientation entre un corps supérieur et un corps inférieur du véhicule. Ces différences d'orientation sont utilisées pour augmenter la précision de la correction de navigation inertielle assistée. Un oedomètre situé sur le corps inférieur est utilisé pour réduire des erreurs au niveau des données inertielles obtenues à partir du mouvement entre le corps supérieur et le corps inférieur, et des erreurs au niveau de l'oedomètre, associées à l'écartement du véhicule sont réduites par le biais de la détection de modifications d'écartement, à l'aide de données de navigation inertielle.

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