Integrated GPS/IMU method and microsystem thereof
First Claim
1. An integrated Global Positioning System (GPS)/Inertial Measurement Unit (IMU) microsystem for a carrier, comprising:
- an IMU, for producing orthogonal three-axis (X axis, Y axis and Z axis) angular rate signals and orthogonal three-axis (X-axis, Y axis and Z axis) acceleration signals to a mixed GPS/IMU/Magnetic Data Microprocessor through an IMU processing interface;
an Earth'"'"'s magnetic field detector, for producing said Earth'"'"'s magnetic field vector measurement signals, including X, Y, Z axes signals of said Earth'"'"'s magnetic field vector measurement in said body frame of said carrier, to said mixed GPS/IMU/Magnetic Data Microprocessor through a magnetic processing interface;
a GPS chipset, for receiving GPS RF (Radio Frequency) signals and providing GPS measurements, including GPS position and velocity data or GPS raw pseudorange, range rate, and carrier phase measurements and ephemeris and navigation message from GPS satellites to said mixed GPS/IMU/Magnetic Data Microprocessor through an GPS interface;
wherein said mixed GPS/IMU/Magnetic Data Microprocessor, for computing a mixed GPS/IMU/magnetic position, velocity, attitude and heading solution, by means of combining said three-axis angular rate and three-axis acceleration, said GPS measurements, and said Earth magnetic field vector measurement, in order to provide a rich and accurate motion measurement of said carrier to meet diverse needs;
an user Interface, for exchanging said mixed GPS/IMU/magnetic position, velocity, attitude and heading data with an external user; and
a power supply and clock module, for providing all voltage and timing signals for other devices of said system of said present invention.
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Abstract
An integrated Global Positioning System (GPS)/Inertial Measurement Unit (IMU) method and MicroSystem is disclosed, wherein data from an IMU, a MEMS IMU preferred, a GPS chipset, and an earth magnetic field detector are mixed in a mixed GPS/IMU/Magnetic Data microprocessor to achieve a low cost, micro size, and low power consumption mixed GPS/IMU/magnetic position, velocity, and attitude solution. Furthermore, to deal with sensitivity of the MEMS inertial sensors to environment temperature, a temperature based scheduler, error estimator, and a current acting error estimator are co-operated to minimize the mismatching between the filter system modules and the actual ones due to change of environment temperature, so that the system of the present invention can provide high performance and stable navigation solution over a wide range of environment temperature.
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Citations
14 Claims
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1. An integrated Global Positioning System (GPS)/Inertial Measurement Unit (IMU) microsystem for a carrier, comprising:
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an IMU, for producing orthogonal three-axis (X axis, Y axis and Z axis) angular rate signals and orthogonal three-axis (X-axis, Y axis and Z axis) acceleration signals to a mixed GPS/IMU/Magnetic Data Microprocessor through an IMU processing interface;
an Earth'"'"'s magnetic field detector, for producing said Earth'"'"'s magnetic field vector measurement signals, including X, Y, Z axes signals of said Earth'"'"'s magnetic field vector measurement in said body frame of said carrier, to said mixed GPS/IMU/Magnetic Data Microprocessor through a magnetic processing interface;
a GPS chipset, for receiving GPS RF (Radio Frequency) signals and providing GPS measurements, including GPS position and velocity data or GPS raw pseudorange, range rate, and carrier phase measurements and ephemeris and navigation message from GPS satellites to said mixed GPS/IMU/Magnetic Data Microprocessor through an GPS interface;
wherein said mixed GPS/IMU/Magnetic Data Microprocessor, for computing a mixed GPS/IMU/magnetic position, velocity, attitude and heading solution, by means of combining said three-axis angular rate and three-axis acceleration, said GPS measurements, and said Earth magnetic field vector measurement, in order to provide a rich and accurate motion measurement of said carrier to meet diverse needs;
an user Interface, for exchanging said mixed GPS/IMU/magnetic position, velocity, attitude and heading data with an external user; and
a power supply and clock module, for providing all voltage and timing signals for other devices of said system of said present invention. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An integrated GPS/IMU method, comprising the steps of:
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(a) producing orthogonal three-axis (X axis, Y axis and Z axis) angular rate signals and orthogonal three-axis (X-axis, Y axis and Z axis) acceleration signals to a mixed GPS/IMU/Magnetic Data Microprocessor through an IMU processing interface by an IMU;
(b) producing said Earth'"'"'s magnetic field vector measurement signals, including X, Y, Z axes signals of said Earth'"'"'s magnetic field vector measurement in said body frame of said carrier, to said mixed GPS/IMU/Magnetic Data Microprocessor through a magnetic processing interface, by an Earth'"'"'s magnetic field detector;
(c) receiving GPS RF (Radio Frequency) signals and providing GPS measurements, including GPS position and velocity data or GPS raw pseudorange, range rate, and carrier phase measurements and ephemeris and navigation message from GPS satellites to said mixed GPS/IMU/Magnetic Data Microprocessor through an GPS interface by a GPS chipset;
(d) computing a mixed GPS/IMU/magnetic position, velocity, attitude and heading solution, by means of combining said three-axis angular rate and three-axis acceleration, said GPS measurements, and said Earth magnetic field vector measurement, in order to provide a rich and accurate motion measurement of said carrier to meet diverse needs, by said mixed GPS/IMU/Magnetic Data Microprocessor;
(e) exchanging said mixed GPS/IMU/magnetic position, velocity, attitude and heading data with an external user, by an user Interface; and
(f) providing all voltage and timing signals for other devices of said system of said present invention, by a power supply and clock module. - View Dependent Claims (12, 13, 14)
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Specification