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Multiple sensor system and method

  • US 5,012,424 A
  • Filed: 02/22/1989
  • Issued: 04/30/1991
  • Est. Priority Date: 02/22/1989
  • Status: Expired due to Term
First Claim
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1. A multiple sensor method of computing position and velocity from data from 3 or more sensor units comprising the steps of:

  • resolving the data from each sensor unit into a common coordinate system for obtaining a unit position vector and a horizontal velocity vector for each of the sensor units;

    comparing in a comparison test each unit position vector with a corresponding unit position vector of a selective prior reading thereof for each of the sensor units;

    comparing in the comparison test each velocity vector with a corresponding velocity vector of a selective prior reading for each of the sensor units;

    determining by using a selective comparison process which sensor units pass the comparison tests of the comparisons of each of the sensor units and which sensor unit is closest to passing if not passing; and

    computing position and velocity using a first selective computing process if less than three sensor units pass their comparison tests and using data from one sensor unit either passing its comparison tests or being closest to passing if not passing, or computing position and velocity using a second selective computing process and using data from all sensor units which pass their comparison tests.

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