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Inertial GPS navigation system using injected alignment data for the inertial system

  • US 7,346,452 B2
  • Filed: 09/02/2004
  • Issued: 03/18/2008
  • Est. Priority Date: 09/05/2003
  • Status: Active Grant
First Claim
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1. A method of determining the alignment of an inertial measurement unit of an inertial/GPS receiver that is in motion at start-up, the method including:

  • A. receiving signals from a plurality of GPS satellites;

    B. acquiring and tracking carriers and codes in the satellite signals;

    C. determining a GPS position and an associated GPS velocity vector;

    D. identifying a location on a surface model that corresponds to the GPS position and determining the relative orientation of a corresponding surface plane;

    E. using the orientation of the surface plane and the GPS velocity vector to determine pitch, roll and heading of a vehicle on which the receiver is mounted;

    F. using the pitch, roll and heading information and information about an angular relationship between the vehicle and a body frame associated with the inertial measurement unit to determine an angular relationship between the inertial measurement unit body frame and a reference frame;

    G. using GPS measurements and inertial measurements to determine one or more of the position, velocity and attitude of the vehicle; and

    H. displaying one or more of the position, velocity and attitude of the vehicle.

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