APPARATUS AND METHODS FOR DRIFTLESS ATTITUDE DETERMINATION AND RELIABLE LOCALIZATION OF VEHICLES
First Claim
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1. A method of determining positional information about a vehicle, comprising:
- computing estimates of the covariance matrices of Real Time Kinematic (RTK) Global Satellite Navigation System (GNSS) measurement data obtained by at least two GNSS receivers mounted on the vehicle; and
fusing the RTK GNSS measurement data according to their corresponding covariance matrices to obtain enhanced positional information.
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Abstract
In order to determine positional information, about a mobile robot, Real Time Kinematic (RTK) Global Satellite Navigation System (GNSS) measurement data are obtained by at least two GNSS receivers mounted on the mobile robot. Estimates of the covariance matrices of the measurement data are computed. The RTK GNSS measurement data are combined according to the covariance matrices to obtain enhanced positional information. The results may be fused with data from an IMU to obtain driftless attitude and/or localization information.
21 Citations
34 Claims
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1. A method of determining positional information about a vehicle, comprising:
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computing estimates of the covariance matrices of Real Time Kinematic (RTK) Global Satellite Navigation System (GNSS) measurement data obtained by at least two GNSS receivers mounted on the vehicle; and fusing the RTK GNSS measurement data according to their corresponding covariance matrices to obtain enhanced positional information. - View Dependent Claims (2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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3. The method of claim2, wherein the antenna-to-antenna baseline is not collinear with the vector of gravity.
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17. An apparatus for determining positional information about a vehicle, comprising:
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at least two GNSS receivers for mounting on the vehicle and defining an antenna-to-antenna baseline therebetween; and a processor configured to compute estimates of the covariance matrices of Real Time Kinematic (RTK) Global Satellite Navigation System (GNSS) measurement data obtained by at least two GNSS receivers mounted on the mobile robot, and to fuse the RTK GNSS measurement data according to their corresponding covariance matrices to obtain enhanced positional information. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. An apparatus for determining positional information about a vehicle, comprising:
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at least two GNSS receivers for mounting on the vehicle and defining an antenna-to-antenna baseline therebetween; an inertial Measurement Unit (IMU) for obtaining data about the movement of the mobile robot; and a processor configured to and to fuse the RTK GNSS measurement data and the data from the IMU to obtain enhanced positional information. - View Dependent Claims (33, 34)
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Specification