Attitude determination method and system

• US 6,088,653 A
• Filed: 12/31/1996
• Issued: 07/11/2000
• Est. Priority Date: 12/31/1996
• Status: Expired due to Term

• Current Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Original Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Inventors: Vallot, Lawrence C., Schipper, Brian W., Sheikh, Suneel I.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US08/775,504
• Time in Patent Office: 1,288 Days
• Field of Search: 701/3, 701/4, 701/213, 701/215, 701/220, 701/221, 342/357, 73/178 R
• US Class Current: 701/214
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01S 19/36 relating to the receiver frond end
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G01S 19/55 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A method for use in vehicle attitude determination includes generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles. An inertial navigation system is initialized by setting the attitude of the inertial navigation system to a GPS attitude solution generated for the vehicle and/or the attitude of the inertial navigation system is updated using the GPS attitude solutions generated for the vehicle or GPS estimated attitude error generated for the vehicle. A system for use in vehicle navigation is also provided. The system generally includes three or more GPS antenna/receiver sets associated with a vehicle, an inertial measurement unit that provides inertial measurements for the vehicle, a processing unit of the system having the capability for generating GPS attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles; the GPS attitude computations include at least one of absolute attitudes and estimated attitude errors. The processing unit of the system also includes a filter for generating estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.

Claims

1. A method for use in vehicle attitude determination, the method comprising the steps of:

providing an inertial navigation system including a filter for receiving at least one or more inertial measurements for use in generating a vehicle attitude estimate;

generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles independent of the inertial measurements;

providing the GPS attitude solutions to the filter; and

initializing the inertial navigation system by setting the vehicle attitude estimate of the inertial navigation system to one of the GPS attitude solutions generated for the vehicle.

2. The method according to claim 1, wherein the method further includes aligning the inertial navigation system by updating the vehicle attitude estimate of the initialized inertial navigation system using the GPS attitude solutions generated for the vehicle independent of the inertial measurements.

3. The method according to claim 2, wherein the aligning step includes updating the vehicle attitude estimate of the initialized inertial navigation system using an attitude error generated from the difference between an attitude generated using inertial measurements from a inertial measurement unit and a GPS attitude solution generated independent of the inertial measurements.

4. The method according to claim 2, wherein the initialization and alignment steps are performed when the vehicle is in motion.

5. The method according to claim 1, wherein the method further includes:

computing GPS estimated attitude errors using the three or more antennas receiving GPS signals from two or more space vehicles; and

aligning the inertial navigation system by updating the vehicle attitude estimate of the inertial navigation system using the GPS estimated attitude errors.

6. The method according to claim 5, wherein the initialization and alignment steps are performed when the vehicle is in motion.

7. The method according to claim 5, wherein the computation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using inertial measurements.

8. The method according to claim 5, wherein the computation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using prior GPS measurements.

9. The method according to claim 5, wherein the computation step includes:

providing an estimated vehicle attitude; and

determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.

10. The method according to claim 9, wherein the determining step includes iteratively estimating the error in the estimated vehicle attitude to attain the GPS estimated attitude error.

11. The method according to claim 9, wherein the determining step includes estimating the error in the estimated vehicle attitude using differential carrier phase measurements.

12. The method according to claim 9, wherein the determining step includes estimating the error in the estimated vehicle attitude using GPS measured positions of the at least three antennas using signals from the at least two space vehicles.

13. The method according to claim 1, wherein the method further includes updating the vehicle attitude estimate of the inertial navigation system using the GPS attitude solutions generated for the vehicle independent of the inertial measurements.

14. The method according to claim 13, wherein the updating step includes updating the vehicle attitude estimate of the inertial navigation system using an attitude error generated from the difference between an attitude generated using inertial measurements of an inertial measurement unit and a GPS attitude solution generated independent of the inertial measurements.

15. The method according to claim 1, wherein the method further includes:

computing GPS estimated attitude errors using the three or more antennas receiving GPS signals from two or more space vehicles; and

updating the vehicle attitude estimate of the inertial navigation system using the GPS estimated attitude errors.

16. The method according to claim 15, wherein the computation step includes:

providing an estimated vehicle attitude; and

determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.

17. A method for use in vehicle attitude determination, the method comprising the steps of:

providing an inertial navigation system including a filter for receiving at least one or more inertial measurements for use in generating a vehicle attitude estimate;

generating GPS estimated attitude errors for a vehicle using at least three antennas receiving signals from at least two space vehicles;

providing the GPS estimate attitude errors to the filter; and

updating the vehicle attitude estimate of an inertial navigation system using the GPS estimated attitude errors.

18. The method according to claim 17, wherein the generation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using inertial measurements.

19. The method according to claim 17, wherein the generation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using prior GPS measurements.

20. The method according to claim 17, wherein the generation step includes:

providing an estimated vehicle attitude; and

determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.

21. The method according to claim 20, wherein the determining step includes iteratively estimating the error in the estimated vehicle attitude to attain the GPS estimated attitude error.

22. The method according to claim 21, wherein the error estimation includes a 3×

3 matrix inversion to provide a solution of a 3 element error vector.

23. The method according to claim 20, wherein the determining step includes estimating the error in the estimated vehicle attitude using differential carrier phase measurements.

24. The method according to claim 20, wherein the determining step includes estimating the error in the estimated vehicle attitude using GPS measured positions of the at least three antennas using signals from the at least two space vehicles.

25. A system for use in vehicle navigation, the system comprising:

three or more GPS antenna/receiver sets associated with a vehicle;

an inertial measurement unit for providing inertial measurements for the vehicle; and

a processing unit, the processing unit including;

GPS attitude determination means for generating attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles, the attitude computations including at least one of GPS absolute attitudes generated independent of the inertial measurements and GPS estimated attitude errors, and

filter means for receiving as inputs thereto the inertial measurements and attitude computations, wherein the filter means generates estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.

26. The system according to claim 25, wherein the filter means is initialized using a GPS absolute attitude from the GPS attitude determination means generated independent of the inertial measurements.

27. The system according to claim 25, wherein the filter means includes means for comparing an attitude generated using inertial measurements from the inertial measurement unit and a GPS absolute attitude to generate an estimated attitude error.

28. The system according to claim 25, wherein the GPS attitude determination means includes means for generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using inertial measurements from the inertial measurement unit.

29. The system according to claim 25, wherein the GPS attitude determination means includes means for generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using prior GPS measurements.

30. The system according to claim 25, wherein the GPS attitude determination means includes:

means for providing an estimated vehicle attitude; and

means for determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.

31. The system according to claim 30, wherein the GPS attitude determination means includes means for iteratively estimating the error in the estimated vehicle attitude to attain the GPS estimated attitude error.

32. The system according to claim 30, wherein the GPS attitude determination means includes means for estimating the error in the estimated vehicle attitude using differential carrier phase measurements.

33. The system according to claim 30, wherein the GPS attitude determination means includes means for estimating the error in the estimated vehicle attitude using GPS measured positions of the at least three antennas using signals from the at least two space vehicles.