Low observable radar augmented GPS navigation system

• US 5,952,961 A
• Filed: 01/30/1998
• Issued: 09/14/1999
• Est. Priority Date: 01/30/1998
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Denninger, Valentine L.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US09/016,751
• Time in Patent Office: 592 Days
• Field of Search: 342/52, 342/75, 342/120, 342/351.11, 342/33, 342/34, 342/357.14, 342/358.08, 342/357.02
• US Class Current: 342/357.3
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/882 for altimeters measuring height using barometric means G01C5/06
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/46 the supplementary measurement being of a radio-wave signal type
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane

Abstract

The present invention comprises a low-observable radar altimeter augmented GPS (global positioning system) aircraft navigation system. The system of the present invention includes a GPS receiver, an attitude sensor, and a low-observable radar altimeter. The GPS receiver receives GPS signals and determines a position therefrom. The attitude sensor is coupled to the GPS receiver. The attitude sensor is adapted to receive GPS signals and determine a three dimensional attitude of the aircraft therefrom. The low-observable radar altimeter is also coupled to the GPS receiver and is coupled to the attitude sensor. The radar altimeter is adapted to measure an AGL (above ground level) altitude of the aircraft. The radar altimeter measures the altitude by employing a low-observable radar transmitter slaved to the attitude sensor. The radar altimeter uses the attitude sensor to maintain a radar beam in a substantially vertical attitude (e.g., parallel to the local gravity vector). The system of the present invention uses the AGL altitude to increase the accuracy of the position.

Claims

1. A low-observable radar altimeter augmented SPS (satellite positioning system) navigation system for use on an aircraft, comprising:

a SPS receiver for receiving a GPS signal and determining a position therefrom;

an attitude sensor coupled to said SPS receiver, said attitude sensor adapted to determine three dimensional attitude information for said aircraft;

a radar altimeter coupled to said SPS receiver and coupled to said attitude sensor, said radar altimeter adapted to measure an AGL (above ground level) altitude of said aircraft using a radar beam, said radar altimeter coupled to said attitude sensor and adapted to use said attitude information to maintain said radar beam in a substantially vertical attitude with respect to said aircraft to increase the accuracy of said position.

2. The system of claim 1, wherein said radar beam is a low-observable radar beam.

3. The system of claim 1, wherein said attitude determination system is adapted to receive said GPS signal and determine said three dimensional attitude information therefrom.

4. The system of claim 3, wherein said attitude sensor is adapted to receive a GLONASS (global navigation system) signal or said GPS signal.

5. The system of claim 1, wherein said SPS receiver is adapted to receive a GLONASS signal or said GPS signal.

6. The system of claim 1, further including a data base coupled to said SPS receiver for storing terrain coordinate information, wherein said terrain coordinate information, said position, and said AGL altitude are blended to increase the accuracy of said position.

7. The system of claim 1, wherein said radar altimeter maintains said radar beam in said substantially vertical attitude by actuating a gimbaled antenna in response to attitude correction information received from said attitude sensor.

8. The system of claim 1, wherein said radar altimeter maintains said radar beam in said substantially vertical attitude by controlling a phased array antenna in response to attitude correction information received from said attitude sensor.

9. The system of claim 1, further including an INS (inertial navigation system) coupled to said SPS receiver to provide a redundant INS determined position to said SPS receiver.

10. The system of claim 1, further including a barometric altimeter coupled to said radar altimeter to provide redundancy.

11. The system of claim 1, further including a display coupled to said SPS receiver for displaying information and accepting input.

12. The system of claim 1, wherein said SPS receiver is adapted to couple to a autopilot of said aircraft to automatically provide guidance.

13. A radar altimeter augmented GPS navigation system, comprising:

a GPS receiver for receiving a GPS signal and determining a position therefrom;

an attitude sensor coupled to said GPS receiver, said attitude sensor adapted to determine a three dimensional attitude of an aircraft;

a radar altimeter coupled to said GPS receiver and coupled to said attitude sensor, said radar altimeter adapted to measure an AGL (above ground level) altitude of said aircraft using a radar beam, said radar altimeter coupled to said attitude sensor and adapted to use said attitude of said aircraft to maintain said radar beam in a substantially vertical attitude with respect to said aircraft; and

a data base coupled to said GPS receiver for storing terrain coordinate information, wherein said terrain coordinate information is blended with said AGL altitude and said GPS position to determine an augmented position having increased accuracy with respect to said GPS position.

14. The system of claim 13, wherein said radar beam is a low-observable radar beam.

15. The system of claim 13, wherein said attitude determination system is adapted to receive said GPS signal and determine said three dimensional attitude information therefrom.

16. The system of claim 13, wherein said GPS receiver and said attitude sensor are adapted to receive a GLONASS signal.

17. The system of claim 13, wherein said radar altimeter maintains said radar beam in said substantially vertical attitude by actuating a gimbaled antenna in response to said attitude received from said attitude sensor.

18. The system of claim 13, wherein said radar altimeter maintains said radar beam in said substantially vertical attitude by controlling a phased array antenna in response to said attitude received from said attitude sensor.

19. The system of claim 13, further including a INS (inertial navigation system) coupled to said GPS receiver to provide a redundant INS determined position to said GPS receiver.

20. The system of claim 13, further including a barometric altimeter coupled to said radar altimeter to provide redundancy.

21. A method for providing radar altimeter augmented GPS navigation information to enable an aircraft to execute a precision approach and landing independent of ground-based transmitters, the method comprising the steps of:

a) determining a GPS position by using a GPS receiver receiving a GPS signal and determining said GPS position therefrom;

b) determining a three dimensional attitude of an aircraft by using an attitude sensor receiving said GPS signal and determining said attitude therefrom;

c) measuring an AGL altitude of said aircraft by using a radar altimeter, wherein said radar altimeter transmits a low-observable radar beam having a low probability of detection;

d) maintaining said radar beam in a substantially vertical attitude with respect to said aircraft by using said attitude from said attitude sensor;

e) combining said AGL altitude and said GPS position to compute an augmented GPS position having increased accuracy with respect to said GPS position; and

f) executing a precision approach and landing by using said augmented GPS position.

22. The method of claim 21 further including the step of receiving a GLONASS signal using said GPS receiver and determining a GLONASS position therefrom.

23. The method of claim 21 further including the step of receiving a GLONASS signal using said attitude sensor and determining said attitude therefrom.

24. The method of claim 21 further including the step of determining an INS position and using said INS position provide redundancy and fault detection.

25. A radar altimeter augmented GPS navigation system, comprising:

a GPS receiver for receiving a GPS signal and determining a position therefrom;

an attitude sensor coupled to said GPS receiver, said attitude sensor adapted to receive said GPS signal and determining a three dimensional attitude of an aircraft including said GPS receiver therefrom;

a radar altimeter coupled to said GPS receiver and coupled to said attitude sensor, said radar altimeter adapted to measure a radar path length along a radar beam emitted by said radar altimeter, said attitude and said radar path length used to compute an accurate AGL (above ground level) altitude of said aircraft; and

a data base coupled to said GPS receiver for storing terrain coordinate information, wherein said terrain coordinate information is blended with said AGL altitude and said GPS position to determine an augmented position having increased accuracy with respect to said GPS position.

26. The system of claim 25, wherein said GPS receiver and said attitude sensor are adapted to receive a GLONASS signal.

27. The system of claim 25, wherein said radar altimeter includes a radar antenna fixed with respect to said aircraft, and wherein said attitude and said radar path length are used to compute said AGL altitude as said AGL altitude varies with a maneuver of said aircraft.

28. The system of claim 25, further including a INS (inertial navigation system) coupled to said GPS receiver to provide a redundant INS determined position to said GPS receiver.

29. The system of claim 25, further including a barometric altimeter coupled to said radar altimeter to provide redundancy.

30. The system of claim 25, further including a flight recorder adapted to record the outputs of said GPS receiver, said attitude sensor, and said radar altimeter.

31. The system of claim 25, further including a system controller adapted to interface said GPS receiver, said attitude sensor, and said radar altimeter.

32. The system of claim 31, wherein said system controller uses said attitude with said radar path length to compute said AGL altitude.

33. The system of claim 25, wherein said GPS signal is a standard positioning service GPS signal.

34. The system of claim 25, wherein said GPS signal is a precise positioning service signal.