Granted Patent B2

US 12,442,637 · App. 17/128,744 · Granted Oct 14, 2025

Inventors: Nicola Matteo Palella (Rivolta d'adda, IT); Leonardo Colombo (Lecco, IT)

Assignee: STMicroelectronics S.r.l.

G01C21/165G01C5/06G01C25/00G01S19/47

Abstract

Claims (82)

1. A method for providing navigation information by a navigation sensing device, the method comprising:

collecting, by an inertial measurement unit of the navigation sensing device, motion data comprising acceleration and angular rates;

collecting, by an absolute positioning source of the navigation sensing device, three-dimensional absolute position data comprising absolute altitude;

collecting, by a barometer sensor, pressure measurement;

processing, by a first data fusion process, the motion data and the three-dimensional absolute position data to obtain two-dimensional position information;

processing, by a second data fusion process, the pressure measurement and the absolute position data to obtain an altitude estimate, the processing, by the second data fusion process, including:

performing a recursive estimation operation to obtain the altitude estimate, including recursively estimating a state vector including state variables representing calibration parameters, the recursive estimation operation comprising at each iteration performing a system update operation including updating a state transition model estimating the altitude estimate using the pressure measurement and a current estimate of the calibration parameters; and

performing a measurement update operation using the absolute altitude, the measurement update operation comprising:

calculating a difference between the altitude estimate and the absolute altitude;

updating the altitude estimate for the system update operation as a function of the difference; and

feeding back to the system update operation the difference to correct the calibration parameters and the altitude estimate in the system update operation; and

providing navigation information by the navigation sensing device based on the measurement update operation,

wherein a state transition matrix of the state transition model is obtained by performing partial differentials of the state vector versus each of the state variables and a system noise matrix as a diagonal matrix having on a diagonal, standard deviation of errors in system update equations of the state transition model.

2. The method of claim 1 , wherein the recursive estimation operation includes Kalman filtering.

3. The method of claim 2 , wherein the recursive estimation operation includes an Extended Kalman Filter.

4. The method of claim 3 , comprising providing initialization values to the system update operation, including an estimated altitude initialization value, a pressure- referenced altitude initialization value, a pressure initialization value representing a pressure at which the pressure-referenced altitude is referenced, and a sensitivity initialization value.

5. The method of claim 2 , further comprising feeding back to the system update operation the difference to correct the altitude estimate in the system update operation and the calibration parameters after waiting for a next pressure measurement, and then executing a next iteration of the filtering in the recursive estimation operation.

6. The method of claim 1 , wherein:

the state variables representing the calibration parameters include:

a pressure-referenced altitude corresponding to a certain fixed atmospheric pressure value measured by the barometer sensor;

a sensitivity estimate, representing a coefficient converting pressure to altitude; and

output altitude information; and

the state transition model includes:

a first system update equation calculating the sensitivity estimate as a previous sensitivity estimate at a previous iteration plus an error on the sensitivity estimate introduced by the first system update equation;

a second system update equation calculating the pressure-referenced altitude as a previous pressure-referenced altitude estimate at the previous iteration plus an error on a pressure-referenced altitude estimate introduced by the second system update equation; and

a third system update equation calculating the altitude estimate as the pressure- referenced estimated altitude summed to a difference between the pressure measurement and an initialization pressure multiplied by the sensitivity estimate plus an error on the altitude estimate introduced by the third system update equation.

7. The method of claim 6 , where the first system update equation is corrected as a function of pressure and altitude.

8. The method of claim 1 , comprising storing the state variables corresponding to a given event, and loading the stored state variables as initialization values corresponding to a new event following the given event.

9. The method of claim 1 , wherein the absolute positioning source is a global navigation satellite system receiver.

10. The method of claim 1 , wherein the two-dimensional position information is longitude and latitude.

11. A navigation system configured to provide navigation information, the navigation system comprising:

an absolute positioning source providing three-dimensional absolute position data including an absolute altitude;

an inertial measurement unit providing motion data including accelerations and angular rates;

a barometer sensor providing a pressure measurement; and

a processor module configured to:

process, in a first data fusion process, the motion data and the absolute position data to obtain two-dimensional position information;

process, in a second data fusion process, the pressure measurement and the absolute position data to obtain an altitude estimate, wherein the second data fusion process includes:

performing a recursive estimation operation to obtain the altitude estimate, including recursively estimating a state vector including state variables representing calibration parameters, the recursive estimation operation comprising at each iteration performing a system update operation including updating a state transition model estimating the altitude estimate using the pressure measurement and a current estimate of the calibration parameters; and

performing a measurement update operation using the absolute altitude, the measurement update operation comprising:

calculating a difference between the altitude estimate and the absolute altitude;

updating the altitude estimate for the system update operation as a function of the difference; and

feeding back to the system update operation the difference to correct the calibration parameters and the altitude estimate in the system update operation; and

provide navigation information by the navigation sensing device based on the measurement update operation,

wherein a state transition matrix of the state transition model is obtained by performing partial differentials of the state vector versus each of the state variables and a system noise matrix as a diagonal matrix having on a diagonal, standard deviation of errors in system update equations of the state transition model.

12. The navigation system of claim 11 , wherein the processor module comprises a nonvolatile memory configured to store the state variables corresponding to a given event.

13. The navigation system of claim 11 , wherein the absolute positioning source is a global positioning satellite system receiver.

14. The navigation system of claim 11 , wherein the navigation system is mounted on a land vehicle.

15. The navigation system of claim 11 , wherein:

the state variables representing the calibration parameters include:

a pressure-referenced altitude corresponding to a certain fixed atmospheric pressure value measured by the barometer sensor;

a sensitivity estimate, representing a coefficient converting pressure to altitude; and

output altitude information; and

the state transition model includes:

a first system update equation calculating the sensitivity estimate as a previous sensitivity estimate at a previous iteration plus an error on the sensitivity estimate introduced by the first system update equation;

a second system update equation calculating the pressure-referenced altitude as a previous pressure-referenced altitude estimate at the previous iteration plus an error on a pressure-referenced altitude estimate introduced by the second system update equation; and

a third system update equation calculating the altitude estimate as the pressure- referenced estimated altitude summed to a difference between the pressure measurement and an initialization pressure multiplied by the sensitivity estimate plus an error on the altitude estimate introduced by the third system update equation.

16. A non-transitory computer-readable media storing computer instructions that when executed by at least one processing circuit, cause the at least one processing circuit:

collect, by an inertial measurement unit of a navigation sensing device, motion data comprising acceleration and angular rates,

collect, by an absolute positioning source of the navigation sensing device, three-dimensional absolute position data comprising absolute altitude,

collect, by a barometer sensor, pressure measurement,

process, in a first data fusion process, the motion data and the three-dimensional absolute position data to obtain two-dimensional position information;

process, in a second data fusion process, the pressure measurement and the absolute position data to obtain an altitude estimate, the second data fusion process including:

performing a recursive estimation operation to obtain the altitude estimate, including recursively estimating a state vector including state variables representing calibration parameters, the recursive estimation operation comprising at each iteration performing a system update operation including updating a state transition model estimating the altitude estimate using the pressure measurement and a current estimate of the calibration parameters; and

performing a measurement update operation using the absolute altitude, the measurement update operation comprising:

calculating a difference between the altitude estimate and the absolute altitude;

updating the altitude estimate for the system update operation as a function of the difference; and

feeding back to the system update operation the difference to correct the calibration parameters and the altitude estimate in the system update operation; and

provide navigation information by the navigation sensing device based on the measurement update operation,

wherein a state transition matrix of the state transition model is obtained by performing partial differentials of the state vector versus each of the state variables and a system noise matrix as a diagonal matrix having on a diagonal, standard deviation of errors in system update equations of the state transition model.

17. The non-transitory computer-readable media of claim 16 , wherein:

the state variables representing the calibration parameters include:

a pressure-referenced altitude corresponding to a certain fixed atmospheric pressure value measured by the barometer sensor;

a sensitivity estimate, representing a coefficient converting pressure to altitude; and

output altitude information; and

the state transition model includes:

a first system update equation calculating the sensitivity estimate as a previous sensitivity estimate at a previous iteration plus an error on the sensitivity estimate introduced by

the first system update equation;

a second system update equation calculating the pressure-referenced altitude as a previous pressure-referenced altitude estimate at the previous iteration plus an error on a pressure-referenced altitude estimate introduced by the second system update equation; and

a third system update equation calculating the altitude estimate as the pressure- referenced estimated altitude summed to a difference between the pressure measurement and an initialization pressure multiplied by the sensitivity estimate plus an error on the altitude estimate introduced by the third system update equation.

18. The non-transitory computer-readable media of claim 17 , where the first system update equation is corrected as a function of pressure and altitude.

19. The non-transitory computer-readable media of claim 16 , wherein the recursive estimation operation includes Kalman filtering or an Extended Kalman Filter.

20. The non-transitory computer-readable media of claim 16 , wherein the computer instructions, when executed by the at least one processing circuit, cause at least one processing circuit to feed back to the system update operation the difference to correct the altitude estimate in the system update operation and the calibration parameters after waiting for a next pressure measurement, and then executing a next iteration of the filtering in the recursive estimation operation.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (24)