System and method for long baseline accelerometer/GNSS navigation

• US 9,933,263 B2
• Filed: 04/22/2016
• Issued: 04/03/2018
• Est. Priority Date: 04/22/2016
• Status: Active Grant

• Current Assignee: Novatel Incorporated (Hexagon AB)
• Original Assignee: Novatel Incorporated (Hexagon AB)
• Inventors: Bobye, Michael, Fenton, Patrick
• Primary Examiner(s): Paige, Tyler D
• Application Number:
  US15/136,247
• Publication Number:
  US 20170307378A1
• Time in Patent Office: 711 Days
• Field of Search: 701470
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/54 using carrier phase measurements; using long or short baseline interferometry

Abstract

A system and method for providing location information using a long baseline accelerometer/GNSS system. A first set of accelerometers is operatively associated with the first GNSS antenna while a second set of accelerometers is operatively associated with a second (or more) GNSS antenna. The multiple assemblies are separated by predefined distances and held rigid to each other. Accelerometer data is combined with the GNSS data to provide improved navigation and location information.

Claims

1. A system comprising:

a first assembly comprising a first global navigation satellite system (GNSS) antenna operatively associated with a first accelerometer set;

a second assembly comprising a second GNSS antenna operatively associated with a second accelerometer set;

a rigid body that is operatively connected to the first assembly and the second assembly, wherein the first and second assemblies are separated by a predefined distance, whereby movement of the rigid body causes both the first and second assemblies to move; and

a processor configured to computer a baseline vector between the first and second assembly and further configured to compute rotational information using data from the first and second accelerometer sets.

2. The system of claim 1 wherein the first accelerometer set comprises a trio of orthogonally oriented accelerometers.

3. The system of claim 1 wherein the second accelerometer set comprises a trio of orthogonally oriented accelerometers.

4. The system of claim 1 wherein the processor is further configured to compute the baseline vector using carrier phase observations.

5. The system of claim 1 wherein the processor is further configured to compute roll, pitch and yaw information from data from the first and second accelerometer sets.

6. The system of claim 1 wherein the processor calculates the rotational information after elimination of errors from the data from the first and second accelerometer sets.

7. The system of claim 1 further comprising:

a third assembly comprising a third global navigation satellite system (GNSS) antenna operatively associated with a third accelerometer set;

wherein the rigid body is operatively connected to the thirds assembly, wherein the first assembly, the second assembly and the third assembly are arranged in an orthogonal manner, whereby movement of the rigid body causes the first, second, and third assemblies to move; and

wherein the processor is further configured to compute the rotational information using data from the first, second, and third accelerometer sets.

8. A system comprising:

a plurality of assemblies, each of the plurality of assemblies comprising a global navigation satellite system (GNSS) antenna operatively associated with an accelerometer set;

a rigid body that is operatively connected to the plurality of assemblies, wherein each of the plurality of assemblies are separated are separated by a predefined distance, whereby movement of the rigid body causes each of the plurality of assemblies to move; and

a processor configured to computer baseline vectors among the plurality of assemblies and further configured to compute rotational information using data from the plurality of accelerometer sets.