Systems and Methods for Estimating Position, Attitude, and/or Heading of a Vehicle
First Claim
1. A system for estimating at least one of position, attitude, and heading of a vehicle, the system comprising:
- at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle;
at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle;
a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle;
a sensor configured to output a signal indicative of vehicle altitude;
a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle; and
a device configured to receive the signals to estimate at least one of the position, the attitude, and the heading of the vehicle.
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Accused Products
Abstract
A system for estimating at least one of position, attitude, and heading of a vehicle is disclosed. The system includes at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle and at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle. The system further includes a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle. The system also includes a sensor configured to output a signal indicative of vehicle altitude and a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle. The system further includes a device configured to receive the signals and estimate at least of one of position, attitude, and heading of the vehicle.
38 Citations
34 Claims
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1. A system for estimating at least one of position, attitude, and heading of a vehicle, the system comprising:
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at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle; at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle; a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle; a sensor configured to output a signal indicative of vehicle altitude; a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle; and a device configured to receive the signals to estimate at least one of the position, the attitude, and the heading of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle comprising:
a system for estimating at least one of position, attitude, and heading of the vehicle, the system comprising at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle, at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle, a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle, a sensor configured to output a signal indicative of altitude, a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle, and a device configured to receive the signals to estimate at least one of the position, the attitude, and the heading of the vehicle. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A method for estimating at least one of position, attitude, and heading of a vehicle, the method comprising:
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generating signals of indicative of inertial angular rates around three mutually orthogonal axes of the vehicle, accelerations along three mutually orthogonal axes of the vehicle, a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle, vehicle altitude, airspeed of the vehicle, and temperature outside the vehicle; and estimating at least one of the position, the attitude, and the heading of the vehicle based on the signals. - View Dependent Claims (29, 30, 31, 32, 33, 34)
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Specification