Apparatus and method for determining velocity of a platform

• US 5,787,384 A
• Filed: 11/22/1995
• Issued: 07/28/1998
• Est. Priority Date: 11/22/1995
• Status: Expired due to Term

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: E-Systems Incorporated (Rtx Corporation)
• Inventors: Johnson, Gregory Bengt
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/561,689
• Time in Patent Office: 979 Days
• Field of Search: 364/449, 364/95, 364/453, 364/454, 342/357, 342/457, 701/216, 701/220, 701/221
• US Class Current: 701/216
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

An apparatus and method for determining the velocity of a platform includes a GPS receiver and inertial measurement unit (IMU) located at the platform. The GPS receiver provides GPS navigation data using a plurality of GPS satellites while the inertial measurement unit provides inertial navigation data. Acceleration computed from the GPS navigation data is combined with the inertial acceleration generated from the IMU using a Kalman filter to generate a substantially IMU-bias free acceleration of the platform. The resultant acceleration measurement and the GPS navigation data are used to calculate the velocity of the platform in conjunction with a second Kalman filter for removing GPS systematic errors that are normally removed by use of a ground reference station.

Claims

1. An apparatus for generating a velocity signal indicative of the velocity of a platform using a satellite-based navigation system comprising:

a GPS receiver located at the platform for receiving a plurality of GPS signals from a corresponding plurality of GPS satellites and outputting GPS navigation data;

an inertial measurement unit located at the platform for outputting inertial navigation data indicative of the inertial movement of the platform;

a processor for generating an acceleration signal indicative of the acceleration of the platform by combining a first acceleration measurement of the platform calculated from the GPS navigation data with a second acceleration measurement of the platform calculated from the inertial navigation data; and

said processor further generating the velocity signal from the acceleration signal and the GPS navigation data.

2. The apparatus in accordance with claim 1 wherein said processor includes:

a first Kalman filter for estimating GPS systematic errors in a carrier phase range rate from the GPS navigation data and for filtering said GPS systematic errors from the carrier phase range rate.

3. The apparatus in accordance with claim 2 wherein the first Kalman filter further includes a 8+n state vector Kalman filter where n equals the number of GPS satellites.

4. The apparatus in accordance with claim 3 wherein the 8+n state vector of the first Kalman filter comprises means for generating an east velocity component of the platform, a north velocity component of the platform, an up velocity component of the platform, an east acceleration component of the platform, a north acceleration component of the platform, an up acceleration component of the platform, a frequency offset of the GPS receiver, and a frequency drift of the GPS receiver.

5. The apparatus in accordance with claim 2 wherein the first Kalman filter updates the velocity signal at a rate substantially equal to or greater than 40 hertz.

6. The apparatus in accordance with claim 1 wherein the GPS navigation data comprises ephemeris data and pseudorange data.

7. The apparatus in accordance with claim 6 wherein the GPS navigation data includes carrier phase range rate and said processor further includes:

means for generating an atmospheric compensated carrier phase range rate from the carrier phase range rate;

means for generating a velocity measurement and a position measurement indicative of a position of the platform with relation to the GPS satellites; and

means for generating a set of cosine direction vectors relating the platform to said GPS satellites using the velocity measurement, the position measurement and the pseudorange data.

8. The apparatus in accordance with claim 7 wherein the processor includes a first Kalman filter, said processor utilizes the atmospheric compensated carrier phase range rate, the velocity measurement of each of the GPS satellites, the set of cosine direction vectors, and the acceleration signal in conjunction with the first Kalman filter for generating the velocity signal.

9. The apparatus in accordance with claim 1 wherein said processor further includes an acceleration bias remover for filtering acceleration bias created by the inertial measurement unit.

10. The apparatus in accordance with claim 9 wherein said acceleration bias remover includes a Kalman filter having a single state.

11. An apparatus for generating a velocity signal indicative of the velocity of a platform using a satellite-based navigation system comprising:

a GPS receiver located at the platform for receiving a plurality of GPS signals from a corresponding plurality of GPS satellites and outputting GPS navigation data;

a processor for processing the GPS navigation data and generating a first acceleration measurement of the platform;

an inertial measurement unit located at the platform for outputting inertial navigation data indicative of the inertial movement of the platform;

said processor generating a second acceleration measurement of the platform based on the inertial navigation data;

an acceleration bias remover for receiving and combining the first acceleration measurement and the second acceleration measurement and substantially removing an acceleration bias generated by the inertial measurement unit to generate a third acceleration measurement of the platform; and

said processor further generating a velocity signal from the GPS navigation data and the third acceleration measurement.

12. The apparatus in accordance with claim 11 wherein the acceleration bias remover includes a first Kalman filter.

13. The apparatus in accordance with claim 12 wherein the first Kalman filter includes a one state Kalman filter to substantially removing bias from the first acceleration measurement.

14. The apparatus in accordance with claim 13 wherein said processor further includes a second Kalman filter for filtering GPS systematic errors and a platform acceleration error from the third acceleration measurement.

15. The apparatus in accordance with claim 14 wherein the second Kalman filter includes a 8+n state Kalman filter where n equals the number of GPS satellites.

16. A method for generating a velocity signal indicative of the velocity of a platform using a satellite-based navigation system comprising the steps of:

receiving a plurality of GPS navigation signals at the platform from a plurality of GPS satellites;

generating GPS navigation data from the plurality of GPS navigation signals;

measuring inertial movement of the platform using an inertial measurement unit;

generating inertial navigation data from the measured inertial movement;

calculating a platform acceleration measurement indicative of the acceleration of the platform, said calculating including the steps of;

computing a GPS-based platform acceleration measurement using the GPS navigation data;

computing an IMU-based platform acceleration measurement using the inertial navigation data; and

generating the platform acceleration measurement from the GPS-based platform acceleration measurement and the IMU-based platform acceleration measurement; and

processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal.

17. The method in accordance with claim 16 wherein the step of generating the platform acceleration measurement comprises the step of removing a substantial portion of an acceleration bias generated by the inertial measurement unit.

18. The method in accordance with claim 17 wherein the step of removing the acceleration bias generated by the inertial measurement unit further comprises the steps of:

inputting the GPS-based platform acceleration measurement to an acceleration bias remover;

inputting the IMU-based platform acceleration measurement to the acceleration bias remover; and

filtering, within the acceleration bias remover, the GPS-based platform acceleration measurement and the IMU-based platform acceleration measurement using a Kalman filter and outputting the platform acceleration measurement.

19. The method in accordance with claim 18 wherein the step of filtering includes using a one state Kalman filter.

20. The method in accordance with claim 16 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further includes the steps of:

computing a position measurement and a velocity measurement for each GPS satellite using ephemeris data from the GPS navigation signals;

computing a set of direction vectors in response to the velocity measurement, the position measurement and pseudorange data associated with each GPS satellite, each direction vector relates to the direction of the platform with respect to each GPS satellite; and

computing a range rate measurement for each GPS satellite using a carrier phase range rate from the GPS navigation data.

21. The method in accordance with claim 20 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further comprises the step of processing the acceleration measurement of the platform, the computed set of direction vectors, the computed range rate measurements, and the computed velocity measurement of each GPS satellite to compute the velocity signal.

22. The method in accordance with claim 21 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further comprises the step of filtering GPS satellite system errors relating to the carrier phase range rate using a Kalman filter.

23. The method in accordance with claim 22 wherein the step of filtering includes filtering in an 8+n state Kalman filter where n equals the number of GPS satellites.

24. The method in accordance with claim 16 wherein the step of generating GPS navigation data comprises the steps of:

generating ephemeris data;

generating pseudorange data; and

generating a carrier phase range rate.

25. The method in accordance with claim 24 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further comprises the steps of:

computing a position measurement and a velocity measurement for each GPS satellite using ephemeris data from the GPS navigation signals;

computing a set of direction vectors in response to the velocity measurement, the position measurement and pseudorange data associated with each GPS satellite, each direction vector relates to the direction of the platform with respect to each GPS satellite; and

computing a range rate measurement for each GPS satelite using a carrier phase range rate from the GPS navigation data.

26. The method in accordance with claim 25 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further comprises the step of processing the acceleration measurement of the platform, the computed set of direction vectors, the computed range rate measurements, and the computed velocities of each GPS satellites to compute the velocity signal.

27. The method in accordance with claim 26 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further comprises the step of filtering GPS satellite system errors relating to the carrier phase range rate using a Kalman filter.

28. The method in accordance with claim 27 wherein the step of filtering further includes filtering by means of an 8+n state Kalman filter where n equals the number of GPS satellites.

29. The apparatus in accordance with claim 28 wherein the 8+n state Kalman filter includes a state vector comprising:

an east velocity component of the platform;

a north velocity component of the platform;

an up velocity component of the platform;

an east acceleration component of the platform;

a north acceleration component of the platform;

an up acceleration component of the platform;

a frequency offset of the GPS receiver;

a frequency drift of the GPS receiver; and

an n plurality of states for range rate bias of each of the GPS satellites.

30. A method for generating a velocity signal indicative of the velocity of a platform using a satellite-based navigation system comprising the steps of:

receiving a plurality of GPS navigation signals at the platform from a plurality of GPS satellites;

generating GPS navigation data from the plurality of navigation signals;

generating a GPS-based acceleration measurement of the platform from the GPS navigation data;

measuring inertial movement of the platform using an inertial measurement unit;

generating inertial navigation data from the measured inertial movement;

generating an IMU-based acceleration measurement of the platform from the inertial navigation data;

computing a platform acceleration measurement from the GPS-based acceleration measurement and the IMU-based acceleration measurement using a first Kalman filter; and

processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal.

31. The method in accordance with claim 30 wherein the step of processing the GPS navigation data and the platform acceleration measurement to generate the velocity signal further comprises the steps of:

computing a position measurement and a velocity measurement for each GPS satellite using the GPS navigation data;

computing a set of direction vectors using the GPS navigation data, each direction vector relating to the direction of the platform with respect to each GPS satellite;

computing a carrier phase range rate measurement for each GPS satellite using the GPS navigation data; and

filtering GPS satellite systematic errors relating to the carrier phase range rate measurement using a second Kalman filter.

32. The method in accordance with claim 31 wherein the step of filtering includes using an 8+n state Kalman filter where n equals the number of GPS satellites.

33. A method for generating a velocity signal indicative of the velocity of a platform using a satellite-based navigation system comprising the steps of:

generating ephemeris data, pseudorange data, and carrier phase data from a received GPS signal;

computing a GPS satellite velocity measurement and a GPS satellite position measurement in response to the ephemeris data;

computing a GPS-based acceleration measurement of the platform from the pseudorange data, the GPS satellite velocity measurement, the GPS satellite position measurement, and the carrier phase data using a least squares acceleration calculation;

computing an IMU-based acceleration measurement of the platform from an acceleration measurement received from a platform positioned inertial measurement unit;

combining the GPS-based acceleration measurement and the IMU-based acceleration measurement to determine an acceleration signal indicative of the acceleration of the platform; and

computing the velocity signal using the pseudorange data, the carrier phase data, the GPS satellite velocity measurement, the GPS satellite position measurement, and the acceleration signal.

34. The method in accordance with claim 33 wherein the step of combining includes the step of removing an acceleration bias generated by the inertial measurement unit from the IMU-based acceleration measurement by means of a first Kalman filter.

35. The method in accordance with claim 34 wherein the step of computing the velocity signal further includes the step of processing and filtering the pseudorange data, the carrier phase data, the GPS satellite velocity measurement, the GPS satellite position measurement, and the acceleration signal using an 8+n state Kalman filter, where n equals the number of GPS satellites.

36. An apparatus for determining a velocity signal indicative of the velocity of a platform using a satellite-based navigation system comprising:

a GPS receiver located at the platform for receiving a plurality of GPS signals from a corresponding plurality of GPS satellites and outputting GPS navigation data;

an inertial measurement unit located at the platform for outputting inertial navigation data related to the inertial movement of the platform;

a processor for generating an acceleration signal indicative of the acceleration of the platform in accordance with a least square acceleration calculation utilizing the GPS navigation data and the inertial navigation data; and

said processor further generating the velocity signal in accordance with a computation utilizing the acceleration signal and the GPS navigation data.

37. The apparatus in accordance with claim 36 wherein said processor further includes a first Kalman filter for estimating GPS systematic errors in a carrier phase range rate from the GPS navigation data and for filtering said GPS systematic errors from the carrier phase range rate.

38. The apparatus in accordance with claim 37 wherein the first Kalman filter further includes a 8+n state vector Kalman filter where n equals the number of GPS satellites.

39. The apparatus in accordance with claim 38 wherein the 8+n state vector of the first Kalman filter comprises means for generating an east velocity component of the platform, a north velocity component of the platform, an up velocity component of the platform, an east acceleration component of the platform, a north acceleration component of the platform, an up acceleration component of the platform, a frequency offset of the GPS receiver, and a frequency drift of the GPS receiver.

40. The apparatus in accordance with claim 37 wherein the first Kalman filter updates the velocity signal at a rate substantially equal to or greater than 40 hertz.

41. The apparatus in accordance with claim 36 wherein the GPS receiver outputs GPS navigation data that includes ephemeris data and pseudorange data.

42. The apparatus in accordance with claim 41 wherein said processor further includes:

means for generating an atmospheric compensated carrier phase range rate from a carrier phase range rate;

means for generating a velocity measurement and a position measurement indicative of a position of the platform with relation to the GPS satellites; and

means for generating a set of cosine direction vectors relating the platform to said GPS satellites from the velocity measurement, the position measurement and the pseudorange data.

43. The apparatus in accordance with claim 42 wherein the processor responds to the atmospheric compensated carrier phase range rate, the velocity measurement of each of the GPS satellites, the set of cosine direction vectors, and the acceleration signal in conjunction with the first Kalman filter for generating the velocity signal.