Aircraft navigation using the global positioning system and an attitude and heading reference system
First Claim
1. A navigation system for a vehicle comprising:
- a plurality of accelerometers onboard the vehicle;
a plurality of gyroscopes onboard the vehicle;
a receiver, onboard the vehicle, for first signals of a global positioning system and in response thereto producing, repeatedly at a first frequency, a first position indication for the vehicle; and
a processor that receives data from the plurality of accelerometers and the plurality of gyroscopes and therefrom produces a second position indication for the vehicle, and also receives the first position indication, wherein the processor applies a recursive data processing algorithm to the first and second position indications to produce a present position indication for the vehicle.
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Accused Products
Abstract
A vehicle navigation technique uses a receiver for signals of a global positioning system to produce a first position indication and a first velocity indication. An attitude and heading reference system employs accelerometers and gyroscopes oriented along three axes. The raw signals from the accelerometers and gyroscopes are used to derive a second position indication and a second velocity value. A Kalman filter function is applied to the first and second position indications and to the first and second velocity indications to thereby produce a present position indication and a present velocity indication. The Kalman filter function exploits GPS data to corrects periodic drift in the position and velocity indications derived form the accelerometers and gyroscopes by calculating accelerometer and gyroscope biases, thereby enabling relatively inexpensive devices to be utilized.
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Citations
18 Claims
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1. A navigation system for a vehicle comprising:
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a plurality of accelerometers onboard the vehicle; a plurality of gyroscopes onboard the vehicle; a receiver, onboard the vehicle, for first signals of a global positioning system and in response thereto producing, repeatedly at a first frequency, a first position indication for the vehicle; and a processor that receives data from the plurality of accelerometers and the plurality of gyroscopes and therefrom produces a second position indication for the vehicle, and also receives the first position indication, wherein the processor applies a recursive data processing algorithm to the first and second position indications to produce a present position indication for the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A navigation method for a vehicle comprising:
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receiving, via a receiver onboard the vehicle, signals of a global positioning system and in response thereto producing, repeatedly at a first frequency, a first position indication for the vehicle; receiving data from a plurality of accelerometers attached to the vehicle; receiving data from a plurality of gyroscopes attached to the vehicle; deriving a second position indication for the vehicle from the data provided by the plurality of accelerometers and the plurality of gyroscopes, wherein the second position indication is derived repeatedly at a second frequency that is greater than the first frequency; and employing the first and second position indications to produce a present position indication for the vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A navigation method for a vehicle comprising:
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receiving, onboard the vehicle, signals of a global positioning system and in response thereto producing, repeatedly at a first frequency, a first position indication for the vehicle and a first velocity indication for the vehicle; receiving data from a plurality of accelerometers attached to the vehicle and from a plurality of gyroscopes attached to the vehicle; deriving a second position indication for the vehicle from the data received from the plurality of accelerometers and the plurality of gyroscopes; deriving a second velocity indication for the vehicle from the data received from the plurality of accelerometers and the plurality of gyroscopes, wherein the second position indication and the second velocity indication are produced repeatedly at a first frequency; and applying a Kalman filter function to the first and second position indications and to the first and second velocity indications to thereby produce a present position indication and a present velocity indication at a second frequency, wherein the first frequency is greater than the second frequency. - View Dependent Claims (17, 18)
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Specification