POST-MISSION HIGH ACCURACY POSITION AND ORIENTATION SYSTEM
First Claim
1. A method of generating post-mission GNSS-AINS based positioning data for a mobile platform, the method comprising:
- inputting a set of rover GNSS observables previously acquired and recorded during a data acquisition period by a GNSS subsystem on the mobile platform;
inputting a set of reference GNSS observables acquired during said data acquisition period by a plurality of fixed GNSS receiver stations;
computing a set of VRS observables applicable to a VRS position for the data acquisition period, based on the reference GNSS observables and the rover GNSS observables; and
computing positions of the mobile platform for the data acquisition period based on the VRS observables, the rover GNSS observables and IMU data acquired and recorded during the data acquisition period by an IMU on the mobile platform.
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Abstract
A method of generating post-mission position and orientation data comprises generating position and orientation data representing positions and orientations of a mobile platform, based on global navigation satellite system (GNSS) data and inertial navigation system (INS) data acquired during a data acquisition period by the mobile platform, using a network real-time kinematic (RTK) subsystem to generate correction data associated with the data acquisition period, and correcting the position and orientation data based on the correction data. The RTK subsystem may implement a virtual reference station (VRS) technique to generate the correction data.
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Citations
21 Claims
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1. A method of generating post-mission GNSS-AINS based positioning data for a mobile platform, the method comprising:
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inputting a set of rover GNSS observables previously acquired and recorded during a data acquisition period by a GNSS subsystem on the mobile platform; inputting a set of reference GNSS observables acquired during said data acquisition period by a plurality of fixed GNSS receiver stations; computing a set of VRS observables applicable to a VRS position for the data acquisition period, based on the reference GNSS observables and the rover GNSS observables; and computing positions of the mobile platform for the data acquisition period based on the VRS observables, the rover GNSS observables and IMU data acquired and recorded during the data acquisition period by an IMU on the mobile platform. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A GNSS-AINS post-processing system comprising:
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a VRS module to input rover GNSS observables previously acquired and recorded by a GNSS subsystem on a mobile platform during a data acquisition period and to input a set of reference GNSS observables for the data acquisition period, and to compute a set of VRS observables applicable to a VRS position for the data acquisition period based on the reference GNSS observables and the rover GNSS observables; and a GNSS-AINS module to compute positions of the mobile platform for the data acquisition period, based on IMU data acquired and recorded during the data acquisition period by the mobile platform and based on the VRS observables and the rover GNSS observables. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A GNSS-AINS post-processing system comprising:
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a VRS module to input rover GNSS observables previously acquired and recorded by a GNSS subsystem on an aircraft during a data acquisition period, the VRS module including a network module to input a set of reference GNSS observables acquired during said data acquisition period by a plurality of fixed GNSS receiver stations and to produce a set of corrected reference GNSS observables; and a VRS generator to compute a set of VRS observables applicable to a VRS position for the data acquisition period, based on the corrected reference GNSS observables and the rover GNSS observables; and a GNSS-AINS module to compute positions and orientations of the aircraft for the data acquisition period based on the VRS observables, the rover GNSS observables and IMU data acquired and recorded during the data acquisition period by an IMU on the aircraft, including an inertial navigation module to compute the positions and orientations of the aircraft for the data acquisition period based on the IMU data and based on correction data indicating corrections for predetermined types of uncertainties; and a correction module to generate the correction data. - View Dependent Claims (21)
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Specification