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1. 发明申请

US20190086211A1 METHODS OF ATTITUDE AND MISALIGNMENT ESTIMATION FOR CONSTRAINT FREE PORTABLE NAVIGATION 审中-公开
公开(公告)号：US20190086211A1
公开(公告)日：2019-03-21
申请号：US16185936
申请日：2018-11-09
申请人： Jacques Georgy , Zainab Syed , Christopher Goodall , Mohamed Atia , Aboelmagd Noureldin , Naser El-Sheimy
发明人： Jacques Georgy , Zainab Syed , Christopher Goodall , Mohamed Atia , Aboelmagd Noureldin , Naser El-Sheimy
IPC分类号： G01C21/16 , G01C21/20 , G01C25/00
摘要： The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.

2. 发明授权

US10203207B2 Methods of attitude and misalignment estimation for constraint free portable navigation 有权
公开(公告)号：US10203207B2
公开(公告)日：2019-02-12
申请号：US13426884
申请日：2012-03-22
申请人： Jacques Georgy , Zainab Syed , Christopher Goodall , Mohamed Atia , Aboelmagd Noureldin , Naser El-Sheimy
发明人： Jacques Georgy , Zainab Syed , Christopher Goodall , Mohamed Atia , Aboelmagd Noureldin , Naser El-Sheimy
IPC分类号： G01C21/00 , G06F15/00 , G01C21/16 , G01C25/00 , G01C21/20
摘要： The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.

3. 发明申请

US20120245839A1 METHODS OF ATTITUDE AND MISALIGNMENT ESTIMATION FOR CONSTRAINT FREE PORTABLE NAVIGATION 审中-公开
标题翻译：用于约束免费便携式导航的姿态和误差估计方法
公开(公告)号：US20120245839A1
公开(公告)日：2012-09-27
申请号：US13426884
申请日：2012-03-22
申请人： Zainab Syed , Jacques Georgy , Christopher Goodall , Aboelmagd Noureldin , Naser El-Sheimy , Mohamed Atia
发明人： Zainab Syed , Jacques Georgy , Christopher Goodall , Aboelmagd Noureldin , Naser El-Sheimy , Mohamed Atia
IPC分类号： G01C21/00 , G06F15/00
CPC分类号： G01C21/165 , G01C21/206 , G01C25/005
摘要： The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.
摘要翻译：本公开涉及增强关于设备和平台的导航解决方案的方法，其中设备的移动性可以在平台内受约束或不受约束，并且其中即使在没有正常的导航信息更新的情况下也提供导航解决方案例如，GNSS）。更具体地，本方法包括利用装置内的传感器（例如加速度计，陀螺仪，磁力计等）的测量来计算和解决装置和平台的姿态以及装置和平台之间的姿态不对准。

4. 发明授权

US09423509B2 Moving platform INS range corrector (MPIRC) 有权
标题翻译：移动平台INS范围校正器（MPIRC）
公开(公告)号：US09423509B2
公开(公告)日：2016-08-23
申请号：US13806686
申请日：2011-06-27
申请人： Jacques Georgy , Zainab Syed , Chris Goodall , Naser El-Sheimy , Aboelmagd Noureldin
发明人： Jacques Georgy , Zainab Syed , Chris Goodall , Naser El-Sheimy , Aboelmagd Noureldin
IPC分类号： G01S5/00 , G01S19/49 , H04B10/00 , G01S19/47 , G01S19/51
CPC分类号： G01S19/49 , G01S5/00 , G01S19/47 , G01S19/51 , H04B10/00
摘要： A moving platform INS range corrector (“MPIRC”) module and its method of operation for providing navigation and positioning information. The module comprises: means, such as a receiver, for receiving a first set of absolute navigational information from an external source (such as satellites in case of GNSS); an inertial sensor unit for generating a second set of navigational information at the module; and a transceiver, for receiving and/or transmitting signals and estimating distance measurement from a known position and receiving position coordinates. The navigational information is used by a processor programmed with a core algorithm, to produce a navigation solution (which comprises position, velocity and attitude). The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of distance and position coordinate measurement from a known position.
摘要翻译：移动平台INS范围校正器（“MPIRC”）模块及其操作方法，用于提供导航和定位信息。该模块包括：用于从外部源（例如在GNSS的情况下的卫星）接收第一组绝对导航信息的装置，例如接收机; 惯性传感器单元，用于在模块处产生第二组导航信息; 以及收发器，用于从已知位置接收和/或发送信号并估计距离测量并接收位置坐标。导航信息由编程有核心算法的处理器使用，以产生导航解决方案（其包括位置，速度和姿态）。该系统具有以下属性：解决方案无缝生成，即使一个导航信息源暂时停止运行; 通过使用已知位置的距离和位置坐标测量来帮助解决方案的准确性。

5. 发明申请

US20090138200A1 Portable Navigation System 审中-公开
标题翻译：便携式导航系统
公开(公告)号：US20090138200A1
公开(公告)日：2009-05-28
申请号：US12168744
申请日：2008-07-07
申请人： Andrew Hunter , Naser El-Sheimy , Zainab Syed , David Bruce Wright
发明人： Andrew Hunter , Naser El-Sheimy , Zainab Syed , David Bruce Wright
IPC分类号： G01C21/00
CPC分类号： G01C21/28 , G01C21/265 , G01C21/3688 , G01S19/35 , G01S19/49 , G01S19/52 , G01S19/53
摘要： An apparatus and method for providing personal navigation and location information is disclosed. For one embodiment, a personal navigation system includes a navigation module to receive and determine personal navigation and location information and a display communicatively coupled to the sensor for displaying the personal navigation and location information to a user. The display is detachably joined to the sensor allowing the display to be detached from the sensor and moved such that movement of the display does not impair the determination of the personal navigation and location information.
摘要翻译：公开了一种用于提供个人导航和位置信息的装置和方法。对于一个实施例，个人导航系统包括用于接收和确定个人导航和位置信息的导航模块以及通信地耦合到传感器的显示器，用于向用户显示个人导航和位置信息。显示器可拆卸地连接到传感器，允许显示器与传感器分离并移动，使得显示器的移动不损害个人导航和位置信息的确定。

6. 发明授权

US09784582B2 Method and apparatus for navigation with nonlinear models 有权
公开(公告)号：US09784582B2
公开(公告)日：2017-10-10
申请号：US14345170
申请日：2012-02-15
申请人： Jacques Georgy , Aboelmagd Noureldin , Zainab Syed , Chris Goodall
发明人： Jacques Georgy , Aboelmagd Noureldin , Zainab Syed , Chris Goodall
IPC分类号： G01S19/22 , G01S19/47 , G01C21/00 , G01C21/16 , G01C21/18 , G01S19/49
CPC分类号： G01C21/18 , G01C21/165 , G01S19/22 , G01S19/47 , G01S19/49
摘要： A navigation module and method for providing an INS/GNSS navigation solution for a device that can either be tethered or move freely within a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), an assembly of self-contained sensors capable of obtaining readings (e.g. such as relative or non-reference based navigational information) about the device, and further comprising at least one processor, coupled to receive the output information from the receiver and sensor assembly, and operative to integrate the output information to produce an enhanced navigation solution. The at least one processor may operate to provide a navigation solution by benefiting from nonlinear models and filters that do not suffer from approximation or linearization and which enhance the navigation solution of the device.

7. 发明授权

US09651387B2 Portable navigation system 有权
公开(公告)号：US09651387B2
公开(公告)日：2017-05-16
申请号：US12694879
申请日：2010-01-27
申请人： Andrew Hunter , Naser El-Sheimy , Zainab Syed , David Bruce Wright , Chris Goodall
发明人： Andrew Hunter , Naser El-Sheimy , Zainab Syed , David Bruce Wright , Chris Goodall
IPC分类号： G01C21/00 , G01C21/10 , G01S19/47 , G01C21/28 , G01C21/26 , G01C21/36 , G01S19/35 , G01S19/49 , G01S19/53 , G01S19/52
CPC分类号： G01C21/28 , G01C21/265 , G01C21/3626 , G01S19/35 , G01S19/49 , G01S19/52 , G01S19/53
摘要： A portable navigation module and its method of operation are disclosed for seamlessly providing navigation and positioning information to a user. The module comprises: means, such as a GPS receiver, for receiving a first set of navigational information from an external source, such as satellites; and an inertial sensor unit for generating a second set of navigational information at the module. The navigational information is used by a processor programmed with a core algorithm, to identify the mode of conveyance algorithm and an orientation or misalignment algorithm. The algorithm utilizes the navigational information, aided by the mode of conveyance information and the orientation information, to produce a filtered navigation solution (which comprises position, velocity and attitude). The solution is suitably displayed, preferably on a detachable display unit.The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of the mode of conveyance and orientation information; and there is no requirement for the module to be permanently aligned with the direction of movement of the conveyance platform.

8. 发明申请

US20100198511A1 Portable Navigation System 有权
标题翻译：便携式导航系统
公开(公告)号：US20100198511A1
公开(公告)日：2010-08-05
申请号：US12694879
申请日：2010-01-27
申请人： Andrew Hunter , Naser El-Sheimy , Zainab Syed , David Bruce Wright , Chris Goodall
发明人： Andrew Hunter , Naser El-Sheimy , Zainab Syed , David Bruce Wright , Chris Goodall
IPC分类号： G01C21/00 , G01S19/47 , G01C21/10
CPC分类号： G01C21/28 , G01C21/265 , G01C21/3626 , G01S19/35 , G01S19/49 , G01S19/52 , G01S19/53
摘要： A portable navigation module and its method of operation are disclosed for seamlessly providing navigation and positioning information to a user. The module comprises: means, such as a GPS receiver, for receiving a first set of navigational information from an external source, such as satellites; and an inertial sensor unit for generating a second set of navigational information at the module. The navigational information is used by a processor programmed with a core algorithm, to identify the mode of conveyance algorithm and an orientation or misalignment algorithm. The algorithm utilizes the navigational information, aided by the mode of conveyance information and the orientation information, to produce a filtered navigation solution (which comprises position, velocity and attitude). The solution is suitably displayed, preferably on a detachable display unit.The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of the mode of conveyance and orientation information; and there is no requirement for the module to be permanently aligned with the direction of movement of the conveyance platform.
摘要翻译：公开了便携式导航模块及其操作方法，用于向用户无缝地提供导航和定位信息。该模块包括：诸如GPS接收器的装置，用于从诸如卫星的外部源接收第一组导航信息; 以及用于在所述模块处产生第二组导航信息的惯性传感器单元。导航信息由用核心算法编程的处理器使用，以识别传送算法的模式和取向或未对准算法。该算法利用导航信息，辅助传送方式信息和方向信息，产生滤波导航解（包括位置，速度和姿态）。优选地，可以在可拆卸的显示单元上显示该解决方案。该系统具有以下属性：解决方案无缝生成，即使一个导航信息源暂时停止运行; 解决方案的准确性通过使用传送方式和方向信息来辅助; 并且不要求模块与传送平台的移动方向永久地对准。

9. 发明授权

US11598638B2 Methods of attitude and misalignment estimation for constraint free portable navigation 有权
公开(公告)号：US11598638B2
公开(公告)日：2023-03-07
申请号：US16185936
申请日：2018-11-09
申请人： Jacques Georgy , Zainab Syed , Christopher Goodall , Mohamed Atia , Aboelmagd Noureldin , Naser El-Sheimy
发明人： Jacques Georgy , Zainab Syed , Christopher Goodall , Mohamed Atia , Aboelmagd Noureldin , Naser El-Sheimy
IPC分类号： G01C21/16 , G01C25/00 , G01C21/20
摘要： The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.

10. 发明申请

US20130211713A1 MOVING PLATFORM INS RANGE CORRECTOR (MPIRC) 有权
标题翻译：移动平台校准校正器（MPIRC）
公开(公告)号：US20130211713A1
公开(公告)日：2013-08-15
申请号：US13806686
申请日：2011-06-27
申请人： Jacques Georgy , Zainab Syed , Chris Goodall , Naser El-Sheimy , Aboelmagd Noureldin
发明人： Jacques Georgy , Zainab Syed , Chris Goodall , Naser El-Sheimy , Aboelmagd Noureldin
IPC分类号： G01S19/49
CPC分类号： G01S19/49 , G01S5/00 , G01S19/47 , G01S19/51 , H04B10/00
摘要： A moving platform INS range corrector (“MPIRC”) module and its method of operation are disclosed for providing navigation and positioning information. The module comprises: means, such as a receiver, for receiving a first set of absolute navigational information from an external source (such as satellites in case of GNSS); an inertial sensor unit for generating a second set of navigational information at the module; and a transceiver, for receiving and/or transmitting signals and estimating distance measurement from a known position and receiving position coordinates. The navigational information is used by a processor programmed with a core algorithm, to produce a navigation solution (which comprises position, velocity and attitude). The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of distance and position coordinate measurement from a known position.
摘要翻译：公开了移动平台INS范围校正器（“MPIRC”）模块及其操作方法，用于提供导航和定位信息。该模块包括：用于从外部源（例如在GNSS的情况下的卫星）接收第一组绝对导航信息的装置，例如接收机; 惯性传感器单元，用于在模块处产生第二组导航信息; 以及收发器，用于从已知位置接收和/或发送信号并估计距离测量并接收位置坐标。导航信息由编程有核心算法的处理器使用，以产生导航解决方案（其包括位置，速度和姿态）。该系统具有以下属性：解决方案无缝生成，即使一个导航信息源暂时停止运行; 通过使用已知位置的距离和位置坐标测量来帮助解决方案的准确性。

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