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Fully-coupled positioning process and system thereof

  • US 6,449,559 B2
  • Filed: 03/14/2001
  • Issued: 09/10/2002
  • Est. Priority Date: 11/20/1998
  • Status: Expired due to Term
First Claim
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1. A fully-coupled positioning system, comprising:

  • a global positioning system (GPS) radio frequency (RF) unit for receiving global positioning system (GPS) radio frequency (RF) signals, amplifying said GPS RF signals and down converting said GPS RF signals into intermediate frequency (IF) signals;

    a GPS digital signal processing unit for sampling said IF signals and deriving GPS pseudorange, delta range, and carrier phase measurements;

    an IMU data sampling unit for collecting angular rate and acceleration measurements of a vehicle from an inertial measurement unit (IMU);

    a centralized navigation Kalman filter for receiving and processing said GPS pseudorange, delta range, and carrier phase measurements from said GPS digital signal processing unit and said angular rate and acceleration measurements from said IMU data sampling unit, wherein said centralized navigation Kalman filter comprises a navigation solution computing an inertial navigation solution based on position, velocity and attitude measurements of aid vehicle, an ambiguity resolution resolving a carrier phase ambiguity to obtain carrier phase ambiguity to obtain carrier phase ambiguity numbers and detecting cycle slips to obtain a plurality of slip cycles based on said GPS pseudorange, delta range, and carrier phase measurements, and said inertial navigation solution and an integrated Kalman filter computing a fully-coupled positioning solution for each epoch;

    at least an interface, which is connected with said centralized navigation Kalman filter, for realizing a data and control communication with at least an avionics system; and

    a time synchronizer for providing a time signal and a local reference signal to said avonics system.

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