Platform relative navigation using range measurements
First Claim
1. A method for platform relative navigation using range measurements, wherein four or more transmitters of positioning signals are located on or near a platform of a first object and a second object approaching the platform comprises three or more receivers for receiving the positioning signals, wherein the method comprises the acts of:
- performing, for each received positioning signal, a range measurement between one of the transmitters of the positioning signal and one of the receivers of the positioning signal; and
directly estimating, by a processor, a relative position and relative attitude of a body frame of the second object with regard to the first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object,wherein the state space estimation algorithm comprises an error state space formulation and performs the following iterative acts of;
assuming a relative position and relative attitude of the second object from the range measurements,estimating errors in the assumed relative position and relative attitude of the second object, andcorrecting the assumed relative position and relative attitude of the second object based on the estimated errors.
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Accused Products
Abstract
A method for platform relative navigation using range measurements involves four or more transmitters of positioning signals located on and/or near a platform of a first object and a second object approaching the platform that includes three or more receivers for receiving the positioning signals. For each received positioning signal, a range measurement between the transmitter of the positioning signal and the receiver of the positioning signal is performed. The relative position and relative attitude of a body frame of the second object is estimated with regard to the first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object.
8 Citations
12 Claims
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1. A method for platform relative navigation using range measurements, wherein four or more transmitters of positioning signals are located on or near a platform of a first object and a second object approaching the platform comprises three or more receivers for receiving the positioning signals, wherein the method comprises the acts of:
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performing, for each received positioning signal, a range measurement between one of the transmitters of the positioning signal and one of the receivers of the positioning signal; and directly estimating, by a processor, a relative position and relative attitude of a body frame of the second object with regard to the first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object, wherein the state space estimation algorithm comprises an error state space formulation and performs the following iterative acts of; assuming a relative position and relative attitude of the second object from the range measurements, estimating errors in the assumed relative position and relative attitude of the second object, and correcting the assumed relative position and relative attitude of the second object based on the estimated errors. - View Dependent Claims (2, 3, 4)
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5. A method for platform relative navigation using range measurements, wherein four or more transmitters of positioning signals are located on or near a platform of a first object and a second object approaching the platform comprises three or more receivers for receiving the positioning signals, wherein the method comprises the acts of:
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performing, for each received positioning signal, a range measurement between one of the transmitters of the positioning signal and one of the receivers of the positioning signal; and directly estimating, by a processor, a relative position and relative attitude of a body frame of the second object with regard to the first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object, wherein the directly estimating of the relative position and relative attitude of a body frame of the second object with regard to the first object further comprises processing measurements of one or more additional sensors, which include a radar or laser altimeter. - View Dependent Claims (6, 7, 8)
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9. A non-transitory record carrier storing a computer program, which, when executed by a processor causes the processor to perform the acts of:
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performing, for each received positioning signal, a range measurement between a transmitter of a positioning signal and a receiver of the positioning signal; and directly estimating, by a processor, a relative position and relative attitude of a body frame of a second object with regard to a first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object, wherein four or more transmitters of positioning signals are located on or near a platform of the first object and the second object approaching the platform comprises three or more receivers for receiving the positioning signals, wherein the state space estimation algorithm comprises an error state space formulation and performs the following iterative acts of; assuming a relative position and relative attitude of the second object from the range measurements, estimating errors in the assumed relative position and relative attitude of the second object, and correcting the assumed relative position and relative attitude of the second object based on the estimated errors.
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10. A device for platform relative navigation comprising:
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a range measurement unit configured to perform, for a received positioning signal, a range measurement between a transmitter of the positioning signal located on or near a platform of a first object and a receiver of a second object approaching the platform, with which the positioning signal is received; and a processor configured to estimate a relative position and relative attitude of a body frame of the second object with regard to the first object by processing range measurements between transmitter of positioning signals and receiver of the positioning signals with a state space estimation algorithm implementing a model of the system of the first and second object, wherein the state space estimation algorithm comprises an error state space formulation and performs the following iterative acts of; assuming a relative position and relative attitude of the second object from the range measurements, estimating errors in the assumed relative position and relative attitude of the second object, and correcting the assumed relative position and relative attitude of the second object based on the estimated errors. - View Dependent Claims (11)
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12. A system for platform relative navigation using range measurements comprising:
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four or more transmitters of positioning signals, which are located on or near a platform of a first object; three or more receivers configured to receive the positioning signals, which are located on board of a second object approaching the platform, and a device comprising a range measurement unit configured to perform, for a received positioning signal, a range measurement between one of the transmitters of the positioning signal located on or near a platform of the first object and one of the receivers of the second object approaching the platform, with which the positioning signal is received; and a processor configured to estimate a relative position and relative attitude of a body frame of the second object with regard to the first object by processing range measurements between transmitter of positioning signals and receiver of the positioning signals with a state space estimation algorithm implementing a model of the system of the first and second object, wherein the transmitters of the positioning signals are transponder configured to reply to an interrogation signal transmitted by one of the receivers with a reply signal, and wherein the receivers are configured to receive, as the positioning signal, the reply signal from the transponder and to measure a time between transmission of the interrogation signal and the reception of the reply signal, wherein the measured time is processed for a range measurement.
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Specification