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United States of America Patent
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Issued Date -
Aug 25, 2016
app pub date -
Oct 17, 2014
filing date -
Oct 18, 2013
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Abstract
A navigation device (1) comprises:
- a navigation state estimation unit (11) for repeatedly providing a navigation state estimate comprising at least one of the position, the velocity and the attitude of the device,a prediction unit (12) for providing, using the navigation state estimate, a predicted magnetic property value,a storage unit (13) for retrieving, using the navigation state estimate, a previously stored magnetic property value,a subtraction unit (14) for producing the difference of the predicted magnetic property value and the retrieved magnetic property value,a filter unit (15) for producing, using said difference, a navigation state correction value, anda correction unit (16) for correcting, using said navigation state correction value, a corrected navigation state estimate.
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