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1. 发明授权

US07778111B2 Methods and systems for underwater navigation 有权
标题翻译：水下导航方法与系统
公开(公告)号：US07778111B2
公开(公告)日：2010-08-17
申请号：US12051740
申请日：2008-03-19
申请人： Wesley J. Hawkinson , Kevin Sweeney , Randolph G. Hartman
发明人： Wesley J. Hawkinson , Kevin Sweeney , Randolph G. Hartman
IPC分类号： G01S15/88
CPC分类号： G01S15/60 , G01C21/165 , G01S15/025 , G01S15/06 , Y02A90/36
摘要： A method for navigating underwater is disclosed. The method uses a navigation system to project a first velocity measurement along one or more signal beams having a second velocity measurement, where the second velocity measurement is related to at least one of the one or more signal beams. The method determines a position and location of an object associated with the navigation system based on a prediction of at least the second velocity measurement, and the navigation system is adjusted to perform within a prescribed measurement range based on a covariance of the first and second velocity measurements. The performance adjustments made in determining the position and location of the object are operable independent of the navigation system maintaining each of the signal beams due to one or more external environmental conditions.
摘要翻译：公开了一种导航水下的方法。该方法使用导航系统沿着具有第二速度测量的一个或多个信号波束投影第一速度测量，其中第二速度测量与所述一个或多个信号波束中的至少一个相关。该方法基于至少第二速度测量的预测来确定与导航系统相关联的对象的位置和位置，并且基于第一和第二速度的协方差来调整导航系统在规定的测量范围内执行测量。在确定物体的位置和位置时进行的性能调整可独立于由于一个或多个外部环境条件维持每个信号光束的导航系统而操作。

2. 发明申请

US20090238042A1 METHODS AND SYSTEMS FOR UNDERWATER NAVIGATION 有权
标题翻译：用于水下导航的方法和系统
公开(公告)号：US20090238042A1
公开(公告)日：2009-09-24
申请号：US12051740
申请日：2008-03-19
申请人： Wesley J. Hawkinson , Kevin Sweeney , Randolph G. Hartman
发明人： Wesley J. Hawkinson , Kevin Sweeney , Randolph G. Hartman
IPC分类号： G01S15/88 , G01S15/00
CPC分类号： G01S15/60 , G01C21/165 , G01S15/025 , G01S15/06 , Y02A90/36
摘要： A method for navigating underwater is disclosed. The method uses a navigation system to project a first velocity measurement along one or more signal beams having a second velocity measurement, where the second velocity measurement is related to at least one of the one or more signal beams. The method determines a position and location of an object associated with the navigation system based on a prediction of at least the second velocity measurement, and the navigation system is adjusted to perform within a prescribed measurement range based on a covariance of the first and second velocity measurements. The performance adjustments made in determining the position and location of the object are operable independent of the navigation system maintaining each of the signal beams due to one or more external environmental conditions.
摘要翻译：公开了一种导航水下的方法。该方法使用导航系统沿着具有第二速度测量的一个或多个信号波束投影第一速度测量，其中第二速度测量与一个或多个信号波束中的至少一个相关。该方法基于至少第二速度测量的预测来确定与导航系统相关联的对象的位置和位置，并且基于第一和第二速度的协方差来调整导航系统在规定的测量范围内执行测量。在确定物体的位置和位置时进行的性能调整可独立于由于一个或多个外部环境条件维持每个信号光束的导航系统而操作。

3. 发明授权

US08855911B2 Systems and methods for navigation using cross correlation on evidence grids 有权
标题翻译：导航系统和方法在证据网格上使用互相关
公开(公告)号：US08855911B2
公开(公告)日：2014-10-07
申请号：US12963893
申请日：2010-12-09
申请人： Yunqian Ma , John B. McKitterick , Wesley J. Hawkinson
发明人： Yunqian Ma , John B. McKitterick , Wesley J. Hawkinson
IPC分类号： G01C21/16 , G01S5/16 , G01S5/02
CPC分类号： G01S5/0252 , G01S5/0263 , G01S5/16
摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.
摘要翻译：提供了在证据网格上使用互相关的导航系统和方法。在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 配置成扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

4. 发明申请

US20080169964A1 Systems and Methods for a Terrain Contour Matching Navigation System 有权
标题翻译：地形轮廓匹配导航系统和方法
公开(公告)号：US20080169964A1
公开(公告)日：2008-07-17
申请号：US11554802
申请日：2006-10-31
申请人： Wesley J. Hawkinson
发明人： Wesley J. Hawkinson
IPC分类号： G01S13/08
CPC分类号： G01C21/165 , G01C21/005
摘要： Systems and methods for terrain contour matching navigation are provided. In one embodiment, a method for terrain contour matching navigation comprises: receiving at least one sample point representing the position of an aircraft, the at least one sample point including a horizontal position and an altitude sample; correlating a first sample point of the at least one sample point across a reference basket array having a plurality of elements; determining a correlation quality; when the correlation quality does not achieve a pre-determined quality threshold, performing at least one additional correlation of an additional sample point of the at least one sample point across the reference basket array; and when the correlation quality does achieve a pre-determined quality threshold, calculating a position error based on the correlating of the first sample point and any additional correlations of any additional sample points.
摘要翻译：提供了用于地形轮廓匹配导航的系统和方法。在一个实施例中，一种用于地形轮廓匹配导航的方法包括：接收表示飞机位置的至少一个采样点，所述至少一个采样点包括水平位置和高度采样; 将所述至少一个采样点的第一采样点与具有多个元件的参考筐阵列相关联; 确定相关质量; 当所述相关质量未达到预定质量阈值时，对所述参考篮阵列执行所述至少一个采样点的附加采样点的至少一个附加相关; 并且当相关质量确实达到预定质量阈值时，基于第一采样点与任何附加采样点的任何附加相关性来计算位置误差。

5. 发明授权

US08812235B2 Estimation of N-dimensional parameters while sensing fewer than N dimensions 有权
标题翻译：在N维度下检测N维参数的估计
公开(公告)号：US08812235B2
公开(公告)日：2014-08-19
申请号：US13368823
申请日：2012-02-08
申请人： Ryan Ingvalson , Wesley J. Hawkinson , Robert C. McCroskey , Paul Samanant
发明人： Ryan Ingvalson , Wesley J. Hawkinson , Robert C. McCroskey , Paul Samanant
IPC分类号： G01C21/16
CPC分类号： G01C21/165
摘要： Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors.
摘要翻译：本发明的实施例提供用于在感测少于N维的情况下估计N维参数的改进的系统和方法。在一个实施例中，导航系统包括向处理器提供输出的处理器和惯性测量单元（IMU），所述处理器基于所述IMU的输出提供导航解决方案，其中所述导航解决方案包括：尺寸参数。此外，导航系统包括至多两个向处理器提供输出的传感器，其中处理器从最多两个传感器的输出计算n维参数的估计，用于在所计算的n维参数中的边界误差当由IMU测量的轨迹满足运动要求时，由处理器，其中“n”大于至多两个传感器的数量。

6. 发明申请

US20120209520A1 ESTIMATION OF N-DIMENSIONAL PARAMETERS WHILE SENSING FEWER THAN N DIMENSIONS 有权
标题翻译：传感到N尺寸以上的N维参数的估计
公开(公告)号：US20120209520A1
公开(公告)日：2012-08-16
申请号：US13368823
申请日：2012-02-08
申请人： Ryan Ingvalson , Wesley J. Hawkinson , Robert C. McCroskey , Paul Samanant
发明人： Ryan Ingvalson , Wesley J. Hawkinson , Robert C. McCroskey , Paul Samanant
IPC分类号： G01C21/16
CPC分类号： G01C21/165
摘要： Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors.
摘要翻译：本发明的实施例提供用于在感测少于N维的情况下估计N维参数的改进的系统和方法。在一个实施例中，导航系统包括向处理器提供输出的处理器和惯性测量单元（IMU），所述处理器基于所述IMU的输出提供导航解决方案，其中所述导航解决方案包括：尺寸参数。此外，导航系统包括至多两个向处理器提供输出的传感器，其中处理器从最多两个传感器的输出计算n维参数的估计，用于在所计算的n维参数中的边界误差当由IMU测量的轨迹满足运动要求时，由处理器，其中“n”大于至多两个传感器的数量。

7. 发明授权

US08019542B2 Heading stabilization for aided inertial navigation systems 有权
标题翻译：辅助惯性导航系统的标题稳定
公开(公告)号：US08019542B2
公开(公告)日：2011-09-13
申请号：US12059837
申请日：2008-03-31
申请人： Wesley J. Hawkinson , Tom Rolfer
发明人： Wesley J. Hawkinson , Tom Rolfer
IPC分类号： G01C21/10
CPC分类号： G01C21/165 , G01C25/005
摘要： A method of stabilizing heading in an inertial navigation system includes operating an inertial measurement unit comprising horizontal-sensing elements and off-horizontal-sensing elements while the inertial measurement unit is in a first orientation, calibrating the horizontal-sensing elements of the inertial measurement unit based on horizontal aiding measurements, forward-rotating the inertial measurement unit by a selected-rotation angle about a horizontal-rotation axis so that the inertial measurement unit is oriented in a second orientation, operating the forward-rotated inertial measurement unit while the inertial measurement unit is in the second orientation, and calibrating the rotated off-horizontal-sensing elements based on horizontal aiding measurements while the inertial measurement unit is in the second orientation. When the inertial measurement unit is in the first orientation, the horizontal-sensing elements are oriented in a horizontal reference plane. When the inertial measurement unit is in the second orientation, the off-horizontal-sensing elements are oriented in the horizontal reference plane.
摘要翻译：一种在惯性导航系统中稳定航向的方法包括在惯性测量单元处于第一方向的同时操作包括水平感测元件和离水平感测元件的惯性测量单元，校准惯性测量单元的水平感测元件基于水平辅助测量，惯性测量单元以围绕水平旋转轴线的选定旋转角度正向旋转，使得惯性测量单元在第二方向上定向，在惯性测量单元操作正向旋转惯性测量单元单元处于第二方位，并且在惯性测量单元处于第二方向时，基于水平辅助测量校准旋转的水平离开的感测元件。当惯性测量单元处于第一方向时，水平感测元件在水平参考平面中定向。当惯性测量单元处于第二取向时，水平偏移元件在水平参考平面内定向。

8. 发明授权

US07421343B2 Systems and methods for reducing vibration-induced errors in inertial sensors 有权
标题翻译：减少惯性传感器振动引起的误差的系统和方法
公开(公告)号：US07421343B2
公开(公告)日：2008-09-02
申请号：US11163695
申请日：2005-10-27
申请人： Wesley J. Hawkinson
发明人： Wesley J. Hawkinson
IPC分类号： G01C21/00
CPC分类号： G01C21/16
摘要： Systems and methods for reducing vibration-induced bias errors in inertial sensors are disclosed. A system for reducing bias errors in an inertial sensor operating within an environment may include a vibration detector for sensing vibration changes within the environment proximate to the inertial sensor, and a Kalman filter for computing an estimate of the navigational error produced by the inertial sensor due to a vibration-induced bias shift detected by the vibration detector. The vibration detector can be configured to measure an accelerometer output of the inertial sensor over a Kalman filter cycle, and then use the standard deviation of such output to obtain a statistical measure of the vibration within the environment. In some embodiments, the inertial sensor may include an inertial measurement unit (IMU) connected to an error compensation unit and strapdown navigator, each of which can be fed navigation corrections determined by the Kalman filter.
摘要翻译：公开了用于减少惯性传感器中的振动引起的偏差误差的系统和方法。用于减少在环境中操作的惯性传感器中的偏移误差的系统可以包括用于感测靠近惯性传感器的环境内的振动变化的振动检测器，以及用于计算由惯性传感器产生的导航误差估计值的卡尔曼滤波器到由振动检测器检测到的振动引起的偏移位移。振动检测器可以被配置成通过卡尔曼滤波器周期测量惯性传感器的加速度计输出，然后使用这种输出的标准偏差来获得环境内的振动的统计量度。在一些实施例中，惯性传感器可以包括连接到误差补偿单元和捷联导航仪的惯性测量单元（IMU），每个导航器可以馈送由卡尔曼滤波器确定的导航校正。

9. 发明授权

US07305303B2 Personal navigation using terrain-correlation and/or signal-of-opportunity information 有权
标题翻译：使用地形相关和/或信号机会信息的个人导航
公开(公告)号：US07305303B2
公开(公告)日：2007-12-04
申请号：US11066513
申请日：2005-02-25
申请人： Wayne A. Soehren , Charles T. Bye , Wesley J. Hawkinson
发明人： Wayne A. Soehren , Charles T. Bye , Wesley J. Hawkinson
IPC分类号： G01C21/16 , G01C21/00
CPC分类号： G01C21/005 , G01C21/165
摘要： A navigation system includes an inertial navigation unit. The navigation system also includes a Kalman filter that generates corrective feedback for use by the inertial navigation unit. The Kalman filter generates the corrective feedback as a function of at least one of GPS/DGPS information, sensor information, user input, terrain correlation information, signal-of-opportunity information, and/or position information output by a motion classifier.
摘要翻译：导航系统包括惯性导航单元。该导航系统还包括卡尔曼滤波器，其产生用于惯性导航单元的校正反馈。卡尔曼滤波器产生作为GPS / DGPS信息，传感器信息，用户输入，地形相关信息，机会信息信息和/或运动分类器输出的位置信息中的至少一个的函数的校正反馈。

10. 发明授权

US08917203B2 Motion-based adaptive frequency estimation of a doppler velocity sensor 有权
标题翻译：多普勒速度传感器的基于运动的自适应频率估计
公开(公告)号：US08917203B2
公开(公告)日：2014-12-23
申请号：US13164889
申请日：2011-06-21
申请人： Ryan Ingvalson , Robert C. McCroskey , Wesley J. Hawkinson
发明人： Ryan Ingvalson , Robert C. McCroskey , Wesley J. Hawkinson
IPC分类号： G01S13/08 , G01C21/10 , G01C21/16
CPC分类号： G01C21/10 , G01C21/165 , G01S13/60 , G01S13/86
摘要： A system and method for motion-based adaptive frequency estimation of a Doppler sensor is provided. The system comprises a Doppler sensor configured to output a digitized Doppler data signal, and a Doppler velocity estimation module operatively coupled to the Doppler sensor to receive the Doppler data signal. An inertial navigation system is operatively coupled to the Doppler velocity estimation module, and one or more inertial sensors is operatively coupled to the inertial navigation system. The inertial sensors are configured to transmit inertial navigation data to the inertial navigation system. The Doppler velocity estimation module calculates a speed or velocity estimate based on the Doppler data signal and the inertial navigation data. The speed or velocity estimate is then transmitted to the inertial navigation system.
摘要翻译：提供了一种用于多普勒传感器的基于运动的自适应频率估计的系统和方法。该系统包括被配置为输出数字化多普勒数据信号的多普勒传感器和可操作地耦合到多普勒传感器以接收多普勒数据信号的多普勒速度估计模块。惯性导航系统可操作地耦合到多普勒速度估计模块，并且一个或多个惯性传感器可操作地耦合到惯性导航系统。惯性传感器被配置成将惯性导航数据传送到惯性导航系统。多普勒速度估计模块基于多普勒数据信号和惯性导航数据来计算速度或速度估计。然后将速度或速度估计值传输到惯性导航系统。

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