Miniaturized GPS/MEMS IMU integrated board
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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Abstract
This invention documents the efforts on the research and development of a miniaturized GPS/MEMS IMU integrated navigation system. A miniaturized GPS/MEMS IMU integrated navigation system is presented; Laser Dynamic Range Imager (LDRI) based alignment algorithm for space applications is discussed. Two navigation cameras are also included to measure the range and range rate which can be integrated into the GPS/MEMS IMU system to enhance the navigation solution.
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Citations
17 Claims
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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′
. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification