Attitude estimation using intentional translation of a global navigation satellite system (GNSS) antenna
First Claim
1. A motion characterization system for characterizing general motion of a rigid body, the system comprising:
- an antenna configured to be stimulated by navigation signals;
a receiver coupled to the antenna to receive the navigation signals and produce measurements of received navigation signals;
a translating device configured to impart motion to the antenna relative to a rigid body;
motion sensing devices coupled to the rigid body and configured to provide signals providing motion information; and
a processor coupled to the receiver and motion sensing devices to process signals therefrom to provide motion or attitude estimates of the rigid body under arbitrary motion conditions.
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Accused Products
Abstract
A system determines three-dimensional attitude of a stationary or moving platform using signals from a Global Navigation Satellite System (GNSS) antenna that undergoes deliberate translation, which may be occasional. The system uses single GNSS receiver, a single GNSS antenna, and inertial acceleration and/or rotation rate sensors. In one implementation, the GNSS antenna and inertial sensing components are rigidly connected and mounted to a pallet that is intentionally translated along a track as needed. In a second implementation, the GNSS antenna is mounted to a pallet, and the inertial sensing components are fixed in position. To maximize effectiveness, the track is oriented along a geometrical direction of the platform that is predominantly in a lateral direction from the gravity vector. The system achieves three-dimensional attitude accuracy that rivals interferometric GNSS systems.
73 Citations
23 Claims
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1. A motion characterization system for characterizing general motion of a rigid body, the system comprising:
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an antenna configured to be stimulated by navigation signals; a receiver coupled to the antenna to receive the navigation signals and produce measurements of received navigation signals; a translating device configured to impart motion to the antenna relative to a rigid body; motion sensing devices coupled to the rigid body and configured to provide signals providing motion information; and a processor coupled to the receiver and motion sensing devices to process signals therefrom to provide motion or attitude estimates of the rigid body under arbitrary motion conditions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 19)
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12. A method for characterizing general motion of a rigid body, the method comprising:
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receiving navigation signals via an antenna to produce measurements of received navigation signals; imparting motion to the antenna relative to a rigid body; sensing motion of the rigid body and providing motion information of the rigid body; and processing the measurements of the received navigation signals and the motion information to provide motion or attitude estimates of the rigid body under arbitrary motion conditions. - View Dependent Claims (13, 14, 15, 16, 17, 18, 20, 21, 22)
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23. A motion characterization system for characterizing general motion of a rigid body, the system comprising:
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antenna means configured to be stimulated by navigation signals; means for receiving the navigation signals to produce measurements of received navigation signals; means for imparting motion to the antenna means relative to a rigid body; means for sensing motion of the rigid body to provide signals providing motion information; and means for processing the measurements of the received navigation signals and motion information to provide motion or attitude estimates of the rigid body under arbitrary motion conditions.
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Specification