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1. 发明授权

US08359182B2 Methods and systems for evaluating the performance of MEMS-based inertial navigation systems 有权
标题翻译：用于评估基于MEMS的惯性导航系统的性能的方法和系统
公开(公告)号：US08359182B2
公开(公告)日：2013-01-22
申请号：US12109923
申请日：2008-04-25
申请人： Xiaoji Niu , Sameh Nassar , Naser El-Sheimy
发明人： Xiaoji Niu , Sameh Nassar , Naser El-Sheimy
IPC分类号： G06F11/30 , G06F7/00 , G01D18/00 , G01C25/00 , G01P15/00
CPC分类号： G01C25/005
摘要： Disclosed are systems and methods for evaluating the navigation performance of MEMS inertial sensors. The method uses MEMS inertial sensors static data signals to estimate the static sensor errors and combines them with a reference kinematic signal obtained through field testing of a high-grade inertial sensor. Such emulated field data may then be processed with the corresponding GPS data collected in the same or different field test to evaluate the navigation performance of the MEMS inertial sensors.
摘要翻译：公开了用于评估MEMS惯性传感器的导航性能的系统和方法。该方法使用MEMS惯性传感器静态数据信号来估计静态传感器误差，并将它们与通过高级惯性传感器的现场测试获得的参考运动学信号相结合。然后可以利用在相同或不同的现场测试中收集的对应的GPS数据来处理这样的仿真场数据，以评估MEMS惯性传感器的导航性能。

2. 发明申请

US20090319228A1 Methods and Systems for Evaluating the Performance of MEMS-based Inertial Navigation Systems 有权
标题翻译：用于评估基于MEMS的惯性导航系统的性能的方法和系统
公开(公告)号：US20090319228A1
公开(公告)日：2009-12-24
申请号：US12109923
申请日：2008-04-25
申请人： Xiaoji Niu , Sameh Nassar , Naser El-Sheimy
发明人： Xiaoji Niu , Sameh Nassar , Naser El-Sheimy
IPC分类号： G06F15/00
CPC分类号： G01C25/005
摘要： Disclosed are systems and methods for evaluating the navigation performance of MEMS inertial sensors. The method uses MEMS inertial sensors static data signals to estimate the static sensor errors and combines them with a reference kinematic signal obtained through field testing of a high-grade inertial sensor. Such emulated field data may then be processed with the corresponding GPS data collected in the same or different field test to evaluate the navigation performance of the MEMS inertial sensors.
摘要翻译：公开了用于评估MEMS惯性传感器的导航性能的系统和方法。该方法使用MEMS惯性传感器静态数据信号来估计静态传感器误差，并将它们与通过高级惯性传感器的现场测试获得的参考运动学信号相结合。然后可以利用在相同或不同的现场测试中收集的对应的GPS数据来处理这样的仿真场数据，以评估MEMS惯性传感器的导航性能。

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

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.

5. 发明授权

US09593952B2 System and method for intelligent tuning of Kalman filters for INS/GPS navigation applications 有权
标题翻译：用于INS / GPS导航应用的卡尔曼滤波器的智能调谐系统和方法
公开(公告)号：US09593952B2
公开(公告)日：2017-03-14
申请号：US12246126
申请日：2008-10-06
申请人： Chris Goodall , Naser El-Sheimy
发明人： Chris Goodall , Naser El-Sheimy
IPC分类号： G01C21/00 , G01C21/16 , G01S19/47
CPC分类号： G01C21/165 , G01S19/47
摘要： 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 tuning parameters based on the computer position estimate.
摘要翻译：公开了一种用于在线调整需要先验调整参数的导航系统的集成滤波器的加强学习技术，例如卡尔曼滤波器等。该方法包括从导航系统的GNSS单元接收GNSS测量; 和来自IMU的导航系统的IMU测量。该方法还包括提供先验调整参数以调整导航系统的积分滤波器。该方法还包括使用调谐的积分滤波器来处理GNSS和IMU测量，以基于计算机位置估计来计算位置估计和更新先验调谐参数。

6. 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。

7. 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.

8. 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.

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. 发明授权

US08792908B2 Method and apparatus for determining position of a wireless device 有权
标题翻译：用于确定无线设备的位置的方法和装置
公开(公告)号：US08792908B2
公开(公告)日：2014-07-29
申请号：US13538672
申请日：2012-06-29
申请人： Mohamed Youssef , Naser El-Sheimy , Michel Fattouche
发明人： Mohamed Youssef , Naser El-Sheimy , Michel Fattouche
IPC分类号： H04W24/00
CPC分类号： H04W4/02 , G01S5/0215 , G01S5/14 , H04W64/00
摘要： A method and apparatus for determining the location of a device capable of receiving/transmitting wireless signals from/to reference stations is provided, for example providing wireless signals in the form of range information to the device; determining a region or area surrounding each reference station, wherein regions intersect to form intersecting spaces; defining the intersecting spaces to delineate a device location search space and determining device locations within the search space; determining combinations of said device locations, and using a distribution analysis test to examine a skewness value of each combination; detecting and selecting the combinations of device positions that result in a minimum skewness value or simply a combination that provides skewness value less than a pre-defined minimum threshold value; and utilizing the detected and selected combinations to determine a refined final position of the device.
摘要翻译：提供了一种用于确定能够从/到参考站接收/发送无线信号的设备的位置的方法和装置，例如以设备的范围信息的形式提供无线信号; 确定围绕每个参考站的区域或区域，其中区域相交以形成相交空间; 定义相交空间以描绘设备位置搜索空间并确定搜索空间内的设备位置; 确定所述设备位置的组合，并且使用分布分析测试来检查每个组合的偏度值; 检测和选择导致最小偏度值的装置位置的组合或简单地提供小于预定义的最小阈值的偏度值的组合; 以及利用所检测和选择的组合来确定设备的精细最终位置。

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