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Miniaturized GPS/MEMS IMU integrated board

  • US 8,275,193 B2
  • Filed: 01/08/2008
  • Issued: 09/25/2012
  • Est. Priority Date: 08/04/2004
  • Status: Active Grant
First Claim
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1. A method of three dimensional positioning of objects, comprising the steps of:

  • (a) injecting raw measurements from two or more sensors into a data fusion system to derive relative position and attitude information of objects;

    (b) tracking at least four common GPS (Global Positioning System) satellites simultaneously by means of AERCam (autonomous Extravehicular Activity Robotic Camera) 1′ and

    ISS (International Space Station) 2

    ;

    (c) optimally blending multipath signal and GPS signal due to any intermittently fail of relative GPS-alone when said AERCam 1

    maneuvers into a proximity of said ISS 2

    because of occasional strong multipath signal and GPS signal blockage with IMU data including gyro and accelerometer measurements;

    (d) initializing an inertial navigation system when a GPS solution is available and using said GPS solution;

    (e) tracking position and attitude of said AERCam 1

    relative to said ISS 2

    by said inertial navigation system in close proximity;

    (f) estimating and resetting frequently for errors of said inertial navigation system growing with time;

    (g) aiding said inertial navigation system during close proximity operation with available GPS signals and at least two cameras installed on said AERCam 1

    to maintain accurate relative navigation, wherein range and range rate between said AERCam 1′ and

    said ISS 2

    are blended in multi-sensor fusion algorithm to compensate for IMU sensor drifts during GPS outage or unreliable GPS data; and

    (h) imaging said ISS 2

    by at least two cameras installed on said AERCam 1

    for images which are further processed via correlation and coordinate transformations techniques to derive range and range rate on-board of said ACRCam 1

    for image parameters which are able to be computed and transmitted said range and range rate back to said AERCam 1

    .

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