Remote velocity sensor slaved to an integrated GPS/INS
First Claim
1. A unit configured to provide acceleration, velocity, and position information for one or more points on a vehicle, said unit comprising:
- an integrated global positioning satellite system (GPS)/inertial navigation system (INS); and
at least one remote velocity sensor, said sensors comprising three orthogonal accelerometers, and a digital signal processor configured to receive signals from said accelerometers, said sensor mounted at a location on the vehicle where acceleration, velocity and position are to be determined, data from said sensor to be slaved to position, velocity and attitude data from said integrated GPS/INS to remove a drift in velocity data from said at least one remote velocity sensor, said unit configured to transform data from said sensor to a navigation frame utilizing a sensor frame to navigation frame attitude matrix, where the sensor frame is aligned with a vehicle body frame.
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Accused Products
Abstract
A unit is configured to provide acceleration, velocity, and position information for one or more points on a vehicle. The unit includes an integrated global positioning satellite system (GPS)/inertial navigation system (INS) and at least one remote velocity sensor. The remote velocity sensors include three orthogonal accelerometers and a digital signal processor configured to receive signals from the accelerometers. The remote velocity sensors are mounted at points on the vehicle where acceleration, velocity and position are to be determined. Data from the sensors is slaved to data from the integrated GPS/INS, and the unit is configured to transform data from the sensors to a navigation frame utilizing a sensor frame to navigation frame attitude matrix.
22 Citations
22 Claims
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1. A unit configured to provide acceleration, velocity, and position information for one or more points on a vehicle, said unit comprising:
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an integrated global positioning satellite system (GPS)/inertial navigation system (INS); and
at least one remote velocity sensor, said sensors comprising three orthogonal accelerometers, and a digital signal processor configured to receive signals from said accelerometers, said sensor mounted at a location on the vehicle where acceleration, velocity and position are to be determined, data from said sensor to be slaved to position, velocity and attitude data from said integrated GPS/INS to remove a drift in velocity data from said at least one remote velocity sensor, said unit configured to transform data from said sensor to a navigation frame utilizing a sensor frame to navigation frame attitude matrix, where the sensor frame is aligned with a vehicle body frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
determine a difference between a velocity as measured by said GPS/INS and transformed to a position of said remote velocity sensor and a velocity generated by said remote velocity sensor; and
utilize the difference to remove low frequency errors within the velocity generated by said remote velocity sensor.
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10. A unit according to claim 8 wherein said fusion filter is configured to:
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determine a difference between a position as measured by said GPS/INS and transformed to a position of said remote velocity sensor and a position generated by said remote velocity sensor; and
utilize the difference to remove low frequency errors within the position generated by said remote velocity sensor.
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11. A unit according to claim 1 wherein the sensor frame to navigation frame attitude matrix is transmitted from said integrated GPS/INS to said digital signal processor.
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12. A unit according to claim 1 wherein delta velocities from said remote velocity sensor are transformed utilizing the sensor frame to navigation frame attitude matrix within said integrated GPS/INS.
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13. A unit according to claim 1 wherein said remote velocity sensor comprises input and output capability to receive position, velocity and attitude data from said integrated GPS/INS.
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14. A method for removing a low frequency drift in data from a remote velocity sensor, the data including position, velocity, and acceleration data, the remote velocity sensor including a digital signal processor (DSP) and three orthogonal accelerometers providing signals to the DSP which generates the data, the remote velocity sensor configured for communication with an integrated global positioning satellite system (GPS)/inertial navigation system (INS), said method comprising:
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receiving data from the remote velocity sensor;
receiving data from the integrated GPS/INS; and
transforming the data from the remote velocity sensor data to the data from the integrated GPS/INS using a sensor frame to navigation frame attitude matrix;
determining a difference between a velocity as measured by the GPS/INS and transformed to a position of the remote velocity sensor and a velocity as measured by the remote velocity sensor; and
utilizing the difference to remove low frequency errors within the data generated by the remote velocity sensor. - View Dependent Claims (15, 16, 17, 18, 19)
transmitting the attitude matrix from the integrated GPS/INS to the remote velocity sensor; and
sending position, velocity and attitude data from the integrated GPS/INS to the remote velocity sensor.
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19. A method according to claim 14 wherein transforming the data comprises transmitting high frequency delta velocities to the integrated GPS/INS from the remote velocity sensor.
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20. A filter configured to:
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receive global positioning satellite system (GPS)/inertial navigation system (INS) position, velocity, and attitude data and remote velocity sensor (RVS) position and velocity data, the RVS position and velocity data based on signals from three orthogonal accelerometers and the GPS/INS position, velocity and attitude data;
integrate the GPS/INS velocity over a filter period;
integrate the RVS velocity over the filter period;
form a difference between the RVS velocity integration and the GPS/INS integration; and
correct a RVS velocity solution based on the difference, the difference removing low frequency errors within the data generated by the remote velocity sensor. - View Dependent Claims (21, 22)
form a difference between a RVS velocity position and GPS/INS position; and
correct a RVS position solution based on the difference.
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22. A filter according to claim 21 configured to:
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propagate filter error state estimates and uncertainties; and
update the error state estimates and uncertainties based upon the differences in velocity and position.
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Specification