The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 05, 2021
Filed:
Jan. 15, 2019
Lockheed Martin Corporation, Bethesda, MD (US);
Jeffrey B. Boka, Lumberton, NJ (US);
LOCKHEED MARTIN CORPORATION, Bethesda, MD (US);
Abstract
A system can include an inertial measurement unit, a magnetometer configured to measure a magnetic field, and a processing system having an ORSE filter. The processing system can be configured to determine an estimated position based on a change in velocity or angular rate based on data received from the inertial measurement unit, determine a difference between the measured magnetic field from the magnetometer and the expected magnetic field measurement, and determine a state estimate using the ORSE filter by updating a time propagation of state and covariance with a measurement update of the state and covariance. The processing system can be configured to transform a change in velocity, a change in angulate rate, and the measured magnetic field to an Earth-centered inertial reference frame for the ORSE filter.