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1. 发明申请

US20210180957A1 RELATIVE POSITION NAVIGATION SYSTEM FOR MULTIPLE MOVING VEHICLES 有权
公开(公告)号：US20210180957A1
公开(公告)日：2021-06-17
申请号：US17186966
申请日：2021-02-26
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01C21/28 , G08G5/02 , G01S19/15 , G01C21/16
摘要： A relative navigation system comprising of a pair of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) units that communicate to provide updated position, velocity and attitude information from a master to a rover. The rover unit produces a carrier based solution that enables the system to reduce the uncorrelated low latency position error between the master and the rover units to less than 50 cm.

2. 发明授权

US09791575B2 GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter 有权
公开(公告)号：US09791575B2
公开(公告)日：2017-10-17
申请号：US15007866
申请日：2016-01-27
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01S19/47 , G01C21/18 , G01S19/53 , B62D6/00
CPC分类号： G01S19/47 , B62D6/003 , G01C21/165 , G01C21/18 , G01S19/53
摘要： A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments.

3. 发明授权

US10969228B2 Relative position navigation system for multiple moving vehicles 有权
公开(公告)号：US10969228B2
公开(公告)日：2021-04-06
申请号：US16000463
申请日：2018-06-05
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01C21/28 , G08G5/02 , G01S19/15 , G01C21/16
摘要： A relative navigation system comprising of a pair of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) units that communicate to provide updated position, velocity and attitude information from a master to a rover. The rover unit produces a carrier based solution that enables the system to reduce the uncorrelated low latency position error between the master and the rover units to less than 50 cm.

4. 发明申请

US20170212248A1 GNSS AND INERTIAL NAVIGATION SYSTEM UTILIZING RELATIVE YAW AS AN OBSERVABLE FOR AN INS FILTER 有权
公开(公告)号：US20170212248A1
公开(公告)日：2017-07-27
申请号：US15007866
申请日：2016-01-27
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01S19/47 , G01C21/18 , B62D6/00 , G01S19/53
CPC分类号： G01S19/47 , B62D6/003 , G01C21/165 , G01C21/18 , G01S19/53
摘要： A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments.

5. 发明授权

US08996311B1 Navigation system with rapid GNSS and inertial initialization 有权
标题翻译：导航系统具有快速GNSS和惯性初始化
公开(公告)号：US08996311B1
公开(公告)日：2015-03-31
申请号：US14098620
申请日：2013-12-06
申请人： NovAtel Inc.
发明人： Kristian Morin , Michael Bobye , Sandy Kennedy
IPC分类号： G01S5/14 , G01S19/51 , G01C21/16 , H04N7/18 , G01S19/23 , G01S5/02 , G01S19/47 , G06F17/13 , G01S19/14
CPC分类号： G01C21/165 , G01C21/16 , G01S5/0294 , G01S5/16 , G01S19/14 , G01S19/23 , G01S19/47 , G01S19/49 , G01S19/51 , G06F17/13 , H04N7/18 , H04N7/183 , H04N7/185
摘要： A navigation system for use with moving vehicles includes target points proximate to a rendezvous site located on a first moving vehicle. One or more transmitters associated with the target points broadcast time-tagged target point positioning information. A navigation unit on a second moving vehicle utilizes a camera with known properties to capture images that include the target points. The navigation unit processes the image that corresponds in time to the positioning information, to determine the relative position and orientation of the rendezvous site at the second vehicle. The navigation unit utilizes the relative position and orientation and an absolute position and orientation of the rendezvous site calculated from the target position information and calculates an absolute position and orientation corresponding to the second vehicle. The navigation unit then initializes its component inertial subsystem using a local position and orientation that are based on the calculated absolute position and orientation of the second vehicle.
摘要翻译：用于移动车辆的导航系统包括靠近位于第一移动车辆上的会合位置的目标点。与目标点相关联的一个或多个发射机广播时间标记的目标点定位信息。第二移动车辆上的导航单元使用具有已知属性的相机来捕获包括目标点的图像。导航单元处理与时间相对应的定位信息的图像，以确定第二车辆上的会合位置的相对位置和方位。导航单元利用从目标位置信息计算出的会合位置的相对位置和方向以及绝对位置和方位，并计算与第二车辆相对应的绝对位置和方位。然后，导航单元使用基于所计算的第二车辆的绝对位置和方向的局部位置和方向来初始化其组件惯性子系统。

6. 发明授权

US10533856B2 Navigation system utilizing yaw rate constraint during inertial dead reckoning 有权
公开(公告)号：US10533856B2
公开(公告)日：2020-01-14
申请号：US15479875
申请日：2017-04-05
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01C21/18 , G01C25/00 , G01S19/47 , G01C21/16 , G01S5/00
摘要： A navigation system that utilizes yaw rate constraint during inertial dead reckoning is provided. The system accumulates relative yaw measurements to produce dead reckoning mechanization update values. The system corrects for z axis drift errors.

7. 发明申请

US20180292212A1 NAVIGATION SYSTEM UTILIZING YAW RATE CONSTRAINT DURING INERTIAL DEAD RECKONING 审中-公开
公开(公告)号：US20180292212A1
公开(公告)日：2018-10-11
申请号：US15479875
申请日：2017-04-05
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01C21/18 , G01C25/00 , G01S19/47
CPC分类号： G01C21/18 , G01C21/165 , G01C25/005 , G01S5/00 , G01S19/47
摘要： A system operating in a dead reckoning mode accumulates relative yaw measurements, i.e., measurements of rotation about a z-axis, made by one or more over mechanization update intervals and produces dead reckoning mechanization update values. The system accumulates the values over a turn rate accumulation period, calculates a yaw rate and determines if the yaw rate exceeds a turn rate threshold. If so, the system directs an INS filter to perform a zero yaw rate update at the start of a next mechanization update interval, to correct for the z-axis drift errors of the gyroscopes based on the sensed rotation in the relative yaw measurements over the previous mechanization update interval. The system then sets the z-axis drift errors to zero. If the system determines that the yaw rate exceeds the turn rate threshold, the zero yaw rate update is not performed at the start of the next mechanization update interval.

8. 发明授权

US11480432B2 System and method for IMU motion detection utilizing standard deviation 有权
公开(公告)号：US11480432B2
公开(公告)日：2022-10-25
申请号：US16738545
申请日：2020-01-09
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01C21/16 , G01C21/20 , G06F17/18
摘要： In an example embodiment, motion is detected with an IMU utilizing standard deviation. Specifically, an IMU may obtains IMU measurements. An IMU motion detection process may accumulate a particular number of IMU measurements over a time interval to calculate an absolute magnitude of earth rate (ERimu) value and an absolute magnitude of normal gravity value (GNimu). The values calculated may be referred to as a sample. The IMU motion detection process may create sample rolling histories based on a particular number of samples, e.g., consecutive samples. The IMU motion detection process may then calculate standard deviation values for a sample rolling history based on the ERimu and GNimu values included in the sample rolling history. The IMU motion detection process may compare the standard deviation values to respective motion threshold values, which may be adaptive, to determine if a body of interest, e.g., vehicle, is moving or is stationary.

9. 发明申请

US20210396521A1 SYSTEM AND METHOD FOR DEAD RECKONING FOR MARINE POSITIONING APPLICATIONS 有权
公开(公告)号：US20210396521A1
公开(公告)日：2021-12-23
申请号：US16903847
申请日：2020-06-17
申请人： NovAtel Inc.
发明人： Michael Bobye
IPC分类号： G01C21/16 , G01S19/47
摘要： A system and method for dead reckoning for marine positioning applications is provided. After INS mechanization, an exponential moving average (EMA) is calculated that is used to generate an update for a Kalman filter. The use of the EMA allows the system to limit position error in a linear fashion while being self-contained.

10. 发明申请

US20170307378A1 SYSTEM AND METHOD FOR LONG BASELINE ACCELEROMETER/GNSS NAVIGATION 有权
公开(公告)号：US20170307378A1
公开(公告)日：2017-10-26
申请号：US15136247
申请日：2016-04-22
申请人： NovAtel Inc.
发明人： Michael Bobye , Patrick Fenton
IPC分类号： G01C21/16
CPC分类号： G01C21/165 , G01S19/48 , G01S19/49
摘要： A system and method for providing location information using a long baseline accelerometer/GNSS system. A first set of accelerometers is operatively associated with the first GNSS antenna while a second set of accelerometers is operatively associated with a second (or more) GNSS antenna. The multiple assemblies are separated by predefined distances and held rigid to each other. Accelerometer data is combined with the GNSS data to provide improved navigation and location information.

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