Altimeter with calibration

• US 9,157,737 B2
• Filed: 11/04/2010
• Issued: 10/13/2015
• Est. Priority Date: 06/11/2008
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Loomis, Peter Van Wyck
• Primary Examiner(s): Breene, John
• Assistant Examiner(s): VO, HIEN XUAN
• Application Number:
  US12/927,005
• Publication Number:
  US 20110077898A1
• Time in Patent Office: 1,804 Days
• Field of Search: 702/141, 702/96, 702/150, 702/154, 701/216, 701/217, 701/480, 701/494, 342/357.06, 342/357.14
• US Class Current: 1/1
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 5/00 Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels G01C3/20, G01C3/30 take precedence

Abstract

An altitude dead reckoning system using measurements of forward speed, a yaw angle rate and external altitude information in order to estimate an error in the acceleration due to an accelerometer bias; and an output converter configured to use the forward speed, yaw angel rate, acceleration and estimated accelerometer bias to calculate a change in altitude.

Claims

1. A dead reckoning altimeter, comprising:

a computer system comprising;

a processor;

an estimator stored on a memory coupled with said processor configured to receive an input representing a forward speed, a yaw angle rate, a forward acceleration and external altitude information, said estimator configured to continuously estimate a continuous error in said acceleration due to an accelerometer bias without requiring an initial estimate of said accelerometer bias; and

an output converter stored on said memory coupled with said processor and with said estimator configured to use said forward speed, said yaw angle rate, said forward acceleration and said continuous estimated accelerometer bias to calculate using a hidden operation, a real-time change in altitude.

2. The altimeter of claim 1, wherein:

the estimator and the output converter are configured to provide new calculations of said change in altitude based on said estimated accelerometer bias and new information for said forward speed, said yaw angle rate and said forward acceleration for a time period when said external altitude information is not continuous.

3. The altimeter of claim 1, wherein:

the estimator is further configured to use said forward speed, said yaw angle rate, said forward acceleration and said external altitude information to estimate a position offset with respect to a turn center of a vehicle carrying an accelerometer configured to provide said acceleration without a requirement for an initial estimate of said position offset; and

the output converter is further configured to use said estimated position offset to calculate of said change in altitude.

4. The altimeter of claim 3, wherein:

the output converter is configured to use a product of said estimated position offset times a square of said yaw angle rate to calculate said change in altitude.

5. The altimeter of claim 3, wherein:

the estimator is configured to use said forward speed, said yaw angle rate, said forward acceleration and said external altitude information to estimate a model altitude for said external altitude information, and use said estimated model altitude to estimate said accelerometer bias and said position offset.

6. The altimeter of claim 5, wherein:

said external altitude information is an external altitude or an external altitude rate from an external positioning source.

7. The altimeter of claim 1, wherein:

the estimator includes a propagator and updater to make recursive estimates of a state of said estimated accelerometer bias;

said propagator configured to use said forward speed, said yaw angle rate and said forward acceleration with said state to propagate said state; and

said updater configured to use said external altitude information with said state to update said state.

8. The altimeter of claim 3, wherein:

the estimator includes a propagator and updater to make recursive estimates of states of said estimated position offset and said estimated accelerometer bias;

said propagator configured to use said forward speed, said yaw angle rate and said forward acceleration with said states to propagate said states; and

said updater configured to use said external altitude information with said states to update said states.

9. The altimeter of claim 3, wherein:

the estimator includes a propagator and updater to make recursive estimates of states of said estimated position offset, said estimated accelerometer bias and a model altitude for said external altitude information;

said propagator configured to use said forward speed, said yaw angle rate and said forward acceleration with said states to propagate said states; and

said updater configured to use said external altitude information with said states to update said states.

10. The altimeter of claim 1, further comprising:

a yaw rate sensor to provide information for said yaw angle rate;

a linear accelerometer to provide information for said acceleration; and

an external positioning source to provide said external altitude information.

11. A computer implemented method for determining change in altitude, compromising:

receiving an input comprising a forward speed, a yaw angle rate, a forward acceleration and external altitude information at a memory for continuously estimating a continuous error in said acceleration due to an accelerometer bias without using an initial estimate of said accelerometer bias; and

using said forward speed, said yaw angle rate, said forward acceleration and said estimated accelerometer bias for determining using a hidden operation of a processor, a real-time change in altitude.

12. The method of claim 11, wherein:

the step of estimating includes providing new determinations of said change in altitude based on said estimated accelerometer bias and new information for said forward speed, said yaw angle rate and said forward acceleration for a time period when said external altitude information is not continuous.

13. The method of claim 11, wherein:

the step of estimating includes using said forward speed, said yaw angle rate, said forward acceleration and said external altitude information for estimating a position offset with respect to a turn center of a vehicle carrying an accelerometer configured for providing said acceleration without a requirement for an initial estimate of said position offset; and

the step of determining includes using said estimated position offset for determining said change in altitude.

14. The method of claim 13, wherein:

the step of determining includes calculating a product for said estimated position offset times a square of said yaw angle rate and using said product for determining said change in altitude.

15. The method of claim 13, wherein:

the step of estimating includes using said forward speed, said yaw angle rate, said forward acceleration and said external altitude information for estimating a model altitude for said external altitude information, and using said estimated model altitude for estimating said accelerometer bias and said position offset.

16. The method of claim 15, wherein:

said external altitude information is an external altitude or an external altitude rate from an external positioning source.

17. The method of claim 11, wherein:

the step of estimating includes making recursive estimates of a state of said estimated accelerometer bias by using said forward speed, said yaw angle rate and said forward acceleration with state for propagating said state, and using said external altitude information with said state for updating said state.

18. The method of claim 13, wherein:

the step of estimating includes making recursive estimates of said estimated position offset and said estimated accelerometer bias by using said forward speed, said yaw angle rate and said forward acceleration with said states for propagating said states; and

using said external altitude information with said states for updating said states.

19. The method of claim 13, wherein:

the step of estimating further includes making recursive estimates of said estimated position offset, said estimated accelerometer bias and a model altitude for said external altitude information by using said forward speed, said yaw angle rate and said forward acceleration with said states for propagating said states; and

using said external altitude information with said states for updating said states.

20. The method of claim 11, further comprising:

receiving information for said yaw angle rate from a yaw rate sensor;

receiving information for said acceleration from a linear accelerometer; and

receiving said external altitude information from an external positioning source.