Systems and methods for computing vertical position
First Claim
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1. A method for determining vertical position comprising:
- providing navigation-grade vertical acceleration information of a body in motion;
providing satellite-based vertical position information of the body in motion;
processing the vertical acceleration information of the body in motion to compute vertical position information;
determining the difference between said computed vertical position information and said satellite-based vertical position information; and
employing said difference in processing the vertical acceleration information of the body in motion.
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Abstract
Control systems and methods that provide a high degree of vertical measurement accuracy for a body in motion are disclosed. The systems employ an inertial sensor system for vertical measurement and a Global Navigation Satellite System that includes multipath reduction or attenuation to provide corrected vertical information for a moving body to the inertial sensor system. The combination of these systems enables the maintenance of an accurate vertical position for said body.
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14 Claims
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1. A method for determining vertical position comprising:
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providing navigation-grade vertical acceleration information of a body in motion; providing satellite-based vertical position information of the body in motion; processing the vertical acceleration information of the body in motion to compute vertical position information; determining the difference between said computed vertical position information and said satellite-based vertical position information; and employing said difference in processing the vertical acceleration information of the body in motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for determining vertical position comprising:
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a navigation-grade accelerometer for determining vertical acceleration information of a body in motion; a processor for determining vertical position information from said vertical acceleration information; a satellite navigation receiver for providing reference vertical position information of said body in motion, said receiver including an antenna connected to the satellite navigation receiver configured to randomize multi-path noise; and a negative feedback loop, including a filter, whose input is the difference between the reference vertical position information and the determined vertical position information, and whose output is to said processor for determining corrected vertical position information.
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12. A method for determining vertical position plus or minus 1 centimeter, 2-sigma, comprising:
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determining a vertical reference position using a satellite navigation receiver; performing a first integration of the output of a navigation-grade accelerometer with respect to time; using said output of the first integration as the input to a second integration with respect to time to obtain inertial vertical position; delaying said inertial navigation position to account for the latency associated with said global navigation system receiver; subtracting the delayed inertial position from said vertical reference position; and feeding back said difference, using negative feedback, to the acceleration and velocity integrators so as to reduce the errors introduced in the acceleration and velocity integrators from said accelerometer. - View Dependent Claims (13, 14)
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Specification