Vehicle navigation using non-GPS LEO signals and on-board sensors
First Claim
1. A vehicle navigation method comprising:
- receiving, from one or more LEO satellites, RF signals at a navigation radio;
obtaining satellite ephemerides for a corresponding LEO satellite;
deriving one or more range observables for the corresponding LEO satellite from the RF signals;
establishing an altitude pseudomeasurement for the navigation radio;
establishing a heading pseudomeasurement for the navigation radio;
receiving at the navigation radio at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data generated by one or more sensors onboard a vehicle moving at high dynamics; and
using a processor, computationally calculating a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables;
ephemerides for the corresponding LEO satellite;
the altitude pseudomeasurement;
the heading pseudomeasurement;
one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurement; and
the at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data.
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Accused Products
Abstract
A navigation system includes a navigation radio and a sensor onboard a vehicle. The navigation radio receives and processes low earth orbit RF signals to derive range observables for a corresponding LEO satellite. A sensor is operable to generate at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics. The navigation radio includes a navigation code operable to obtain a position, velocity and time solution (a “navigation solution”) based on the one or more range observables, ephemerides for the corresponding LEO satellite, a heading pseudomeasurement, a navigation radio altitude pseudomeasurement; one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurements; and the generated at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data. The navigation radio uses the navigation solution to acquire a GPS signal during interference with a coarse acquisition GPS signal.
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Citations
23 Claims
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1. A vehicle navigation method comprising:
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receiving, from one or more LEO satellites, RF signals at a navigation radio; obtaining satellite ephemerides for a corresponding LEO satellite; deriving one or more range observables for the corresponding LEO satellite from the RF signals; establishing an altitude pseudomeasurement for the navigation radio; establishing a heading pseudomeasurement for the navigation radio; receiving at the navigation radio at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data generated by one or more sensors onboard a vehicle moving at high dynamics; and using a processor, computationally calculating a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables;
ephemerides for the corresponding LEO satellite;
the altitude pseudomeasurement;
the heading pseudomeasurement;
one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurement; and
the at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A navigation system comprising:
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at least one sensor onboard a vehicle and operable to output at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics; a navigation radio coupled to the sensor to receive sensor data, the navigation radio comprising; an RF antenna operable to receive RF signals from one or more LEO satellites; an RF front end operable to downconvert and digitize the RF signals; a digital processor operable to derive one or more range observables from the downconverted RF signals for a corresponding LEO satellite; and a navigation algorithm operable on the digital processor to obtain a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables;
ephemerides for the corresponding LEO satellite;
a navigation radio altitude pseudomeasurement;
a navigation radio heading pseudomeasurement;
one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurement; and
the at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A navigation system comprising:
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a vehicle; a navigation radio positionally fixed on the vehicle; an RF antenna electrically coupled to the navigation radio and operable to receive RF signals from one or more LEO satellites; an RF front end operable to downconvert and digitize the RF signals to produce digital IF signals; a digital processor operable to derive one or more range observables from the digital IF signals for a corresponding LEO satellite; a sensor positionally fixed on the vehicle and coupled to the navigation radio, the sensor operable to generate at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics; and a navigation algorithm operable on the digital processor to calculate a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables;ephemerides for the corresponding LEO satellite;
a navigation radio altitude pseudomeasurement;
one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurement;
a heading pseudomeasurement; and
the at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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Specification