Patent ID: 6292751
Filing Date: 2001-09-18
Classification: G01C

Abstract:
A method for correcting errors in position derived from an inertial measurement unit (IMU), comprising the steps of:performing a first zero velocity update at a time when the IMU is at rest;recording the time and position of the IMU at a subsequent start of a period of interest after the first zero velocity update;recording the time and position of the IMU at the end of the period of interest;performing a second zero velocity update at the end of the period of interest with the IMU at rest, and then recording a velocity indicated from the IMU; andderiving an accumulated error in position the deriving comprising a) approximating errors in velocity by a function of time with a parameter determined from the recorded indicated velocity, and b) integrating the function over the period of interest to determine the accumulated error in position during the period of interest.