Height estimating apparatus
First Claim
1. Apparatus for estimating a first height of a vehicle above a first reference surface, includinga system for determining position and velocity incorporating at least one sensing means operable to provide an output signal indicative of a vertical specific force of the vehicle, error-estimating means for receiving as input signals a horizontal reference velocity and position of the vehicle, and a radar altimeter measurement of a second height of the vehicle above a second reference surface, and for providing as an output signal estimates of errors associated with the sensing means output signal, and integrating means for receiving said sensing means and error-estimating means output signals, and for subtracting the estimates of errors from the signal indicative of vertical specific force while performing a double integration of the results of the subtraction, to provide an output indicative of the required estimated first height.
5 Assignments
0 Petitions
Accused Products
Abstract
Apparatus for estimating a first height (1) of a vehicle (2) above a first reference surface (3), including a system (4) for determining position, velocity and attitude incorporating at least one sensing means (4b) operable to provide an output signal (5) indicative of a vertical specific force of the vehicle, error-estimating means (6) for receiving as input signals a horizontal reference velocity and position (4a) of the vehicle (2), and a radar altimeter measurement (7) of a second height (1b) of the vehicle (2) above a second reference surface (8) and for providing as an output signal (9) estimates of errors associated with the sensing means output signal (5), and integrating means (10) for receiving said sensing means and error-estimating means output signals (5, 9), and for subtracting the estimates of errors from the signal (5) indicative of vertical specific force while performing a double integration of the results of the subtraction, to provide an output indicative of the required estimated first height (1).
19 Citations
12 Claims
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1. Apparatus for estimating a first height of a vehicle above a first reference surface, including
a system for determining position and velocity incorporating at least one sensing means operable to provide an output signal indicative of a vertical specific force of the vehicle, error-estimating means for receiving as input signals a horizontal reference velocity and position of the vehicle, and a radar altimeter measurement of a second height of the vehicle above a second reference surface, and for providing as an output signal estimates of errors associated with the sensing means output signal, and integrating means for receiving said sensing means and error-estimating means output signals, and for subtracting the estimates of errors from the signal indicative of vertical specific force while performing a double integration of the results of the subtraction, to provide an output indicative of the required estimated first height.
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8. A method for estimating a first height of a vehicle above a first reference surface, including the steps of
operating at least one sensing means, forming part of a system for determining position and velocity of a vehicle, to provide an output signal indicative of a vertical specific force of the vehicle, inputting a horizontal velocity and position of the vehicle and a radar altimeter measurement of a second height of the vehicle above a second reference surface to error-estimating means, establishing in said error-estimating means estimates of errors associated with the sensing means output signal, and subtracting the estimates of errors from the sensing means output signal while performing a double integration of the results of the subtraction, to provide the required estimated first height.
Specification