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:
Aug. 26, 2025
Filed:
Mar. 30, 2022
Here Global B.v., Eindhoven, NL;
Jani Käppi, Tampere, FI;
Tuomo Honkanen, Tampere, FI;
HERE GLOBAL B.V., Eindhoven, NL;
Abstract
A method, apparatus and computer program product are configured to mitigate error in an inertial navigation system (INS) that relies upon a reference system to determine or update filter parameters. In a method, a determination is made of (i) deviation or divergence of a filter of the INS and/or (ii) invalidity of observation(s) by the reference system. The method also identifies the filter parameters from a history buffer associated with a prior point in time at which performance of the filter is stable. The filter parameters were updated at least once based upon observation(s) by the reference system after the prior point in time. The method forward processes sensor samples of the INS obtained subsequent to the prior point in time using the filter parameters from the history buffer at which performance of the filter was stable to mitigate the error.