Vehicle navigation using non-GPS LEO signals and on-board sensors
First Claim
1. A navigation method comprising:
- receiving, from one or more LEO satellites, RF signals at a navigation radio;
obtaining satellite parameters for the one or more LEO satellites;
deriving one or more range observables for the one or more LEO satellites from the RF signals;
establishing an altitude pseudomeasurement for the navigation radio;
receiving at the navigation radio one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data generated by one or more sensors; and
using a processor, computationally calculating a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables, the satellite parameters, the altitude pseudomeasurement, one or more velocity pseudomeasurements of the navigation radio orthogonal to the altitude pseudomeasurement, and the sensor 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
20 Claims
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1. A navigation method comprising:
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receiving, from one or more LEO satellites, RF signals at a navigation radio; obtaining satellite parameters for the one or more LEO satellites; deriving one or more range observables for the one or more LEO satellites from the RF signals; establishing an altitude pseudomeasurement for the navigation radio; receiving at the navigation radio one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data generated by one or more sensors; and using a processor, computationally calculating a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables, the satellite parameters, the altitude pseudomeasurement, one or more velocity pseudomeasurements of the navigation radio orthogonal to the altitude pseudomeasurement, and the sensor data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A navigation system comprising:
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a navigation radio configured to receive RF signals from one or more LEO satellites; a processor operable to determine one or more range observables from the received RF signals for the one or more LEO satellites; one or more sensors operable to generate one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data associated with the navigation system; and a navigation algorithm operable on the processor to determine a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables;
parameters for the one or more LEO satellites, a navigation system altitude pseudomeasurement, one or more navigation system velocity pseudomeasurements orthogonal to the altitude pseudomeasurement, and the sensor data. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a navigation system are adapted to cause the one or more processors to perform a method comprising:
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receiving RF signals from a LEO satellite using a navigation radio; obtaining satellite parameters for the LEO satellite; deriving one or more range observables for the LEO satellite from the received RF signals; establishing an altitude pseudomeasurement for the navigation system; receiving one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data generated by one or more sensors; and determining a position, velocity and time solution (“
navigation solution”
) based on the one or more range observables, the satellite parameters, the altitude pseudomeasurement, one or more velocity pseudomeasurements of the navigation radio orthogonal to the altitude pseudomeasurement, and the sensor data. - View Dependent Claims (20)
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Specification