Global positioning system (GPS) self-calibrating lever arm function
First Claim
1. A method to calibrate at least one lever arm (20) between at least one respective global positioning position (GPS) antenna/receiver (50) and a communicatively coupled inertial navigation system (70), the method comprising:
- receiving signals from the at least one GPS antenna/receiver (50) at the inertial navigation system communicatively coupled to a Kalman filter (90); and
estimating, in the Kalman filter, at least one fixed lever arm component while accounting for a bending motion of the lever arm (20) based on the received signals by implementing an expanded state transition matrix and an expanded noise covariance matrix; and
calibrating the at least one lever arm based on estimating the at least one fixed lever arm component.
1 Assignment
0 Petitions
Accused Products
Abstract
A method to calibrate at least one lever arm between at least one respective global positioning system (GPS) antenna/receiver and a communicatively coupled inertial navigation system is provided. The method includes receiving signals from the at least one GPS antenna/receiver at the inertial navigation system communicatively coupled to a Kalman filter; and estimating, in the Kalman filter, at least one fixed lever arm component while accounting for a bending motion of the lever arm based on the received signals.
-
Citations
20 Claims
-
1. A method to calibrate at least one lever arm (20) between at least one respective global positioning position (GPS) antenna/receiver (50) and a communicatively coupled inertial navigation system (70), the method comprising:
-
receiving signals from the at least one GPS antenna/receiver (50) at the inertial navigation system communicatively coupled to a Kalman filter (90); and estimating, in the Kalman filter, at least one fixed lever arm component while accounting for a bending motion of the lever arm (20) based on the received signals by implementing an expanded state transition matrix and an expanded noise covariance matrix; and calibrating the at least one lever arm based on estimating the at least one fixed lever arm component. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A system with a respective global positioning system (GPS) self-calibrating lever arm function, the system comprising:
-
an inertial navigation system in a first position on a vehicle; at least one global positioning system (GPS) antenna/receiver on the vehicle, wherein at least one lever arm is the at least one respective difference between the first position and an at least one position of the respective at least one GPS antenna/receiver; and a Kalman filter executable by a processor communicatively coupled to the inertial navigation system to;
estimate at least one fixed lever arm component while accounting for a bending motion of the lever arm based on signals received at the inertial navigation system from the at least one GPS antenna/receiver by implementing an expanded state transition matrix and an expanded noise covariance matrix; and
calibrate at least one lever arm based on the at least one fixed lever arm component estimate. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. A program product for implementing an inertial navigation system to calibrate a lever arm, the program product comprising a non-transitory processor-readable medium on which program instructions are embodied, wherein the program instructions are operable, when executed by at least one processor in the inertial navigation system, to cause the inertial navigation system to:
-
estimate at least one fixed lever arm component while accounting for the bending motion of the lever arm in the Kalman filter based on signals received from at least one GPS antenna/receiver at the inertial navigation system by implementing an expanded state transition matrix and an expanded noise covariance matrix; and calibrate the lever arm based on the at least one fixed lever arm component estimate. - View Dependent Claims (20)
-
Specification