Positioning and data integrating method and system thereof

• US 6,516,272 B2
• Filed: 11/20/2001
• Issued: 02/04/2003
• Est. Priority Date: 12/23/2000
• Status: Expired due to Term

• Current Assignee: American GNC Corporation
• Original Assignee: American GNC Corporation
• Inventors: Lin, Ching-Fang
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US10/006,447
• Publication Number:
  US 20020116126A1
• Time in Patent Office: 441 Days
• Field of Search: 701/213, 701/214, 701/215, 701/225, 701/216, 701/207, 701/220, 701/211, 701/13, 701/23, 342/26, 342/359, 342/357.05, 342/357.06, 342/357.14, 348/116
• US Class Current: 701/214
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 15/58 Velocity or trajectory determination systems; Sense-of-movement determination systems velocity measurement in imaging systems G01S15/8979
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 19/26 involving a sensor measurement for aiding acquisition or tracking
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 19/55 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 5/0247 Determining attitude

Abstract

An improved positioning and data integrating process and system can substantially solve the problems encountered in system integration for personal hand-held applications, air, land, and water vehicles, wherein an integrated global positioning system/inertial measurement unit, enhanced with optional other devices to derive user position, velocity, attitude, and body acceleration and rotation information, and distributes these data to other onboard systems, for example, in case of aircraft application, flight management system, flight control system, automatic dependent surveillance, cockpit display, enhanced ground proximity warning system, weather radar, and satellite communication system.

Claims

1. A positioning and data integrating method, comprising the steps of:

(a) performing GPS processing and receive GPS measurements, including pseudorange, carrier phase, Doppler shift, and time from a global positioning system processor, and passing said GPS measurements to a navigation processing board of a central navigation processor;

(b) receiving inertial measurements, including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board via a common bus;

(c) performing an inertial navigation system (INS) processing using an INS processor;

(d) blending an output of said INS processor and said GPS measurements in a Kalman filter;

(e) feeding back an output of said Kalman filter to said INS processor to correct an INS navigation solution;

(f) injecting said velocity and acceleration data from said INS processor into a signal processor of said global positioning system processor to aid said code and carrier phase tracking of said global positioning system satellite signals;

(i) injecting said output of said signal processor of said global positioning system processor, said output of said INS processor, said output of said Kalman filter into a carrier phase integer ambiguity resolution module to fix a global positioning system satellite signal carrier phase integer ambiguity number

(j) outputting said carrier phase integer number from said carrier phase integer ambiguity resolution module into said Kalman filter to further improve said positioning accuracy; and

(k) outputting said navigation data which are platform velocity, position, heading, and time data from said INS processor to said control board through said common bus.

2. A positioning and data integrating method, comprising the steps of:

(a) performing GPS processing and receiving GPS measurements, including pseudorange, Doppler shift, and time from a global positioning system processor, and pass said GPS measurements to a navigation processing board;

(b) receiving inertial measurements, including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board through a common bus;

(c) performing INS processing in an INS processor;

(d) blending an output of said INS processor and said GPS measurements in a Kalman filter;

(e) feeding back an output of said Kalman filter to said INS processor to correct an INS navigation solution;

(g) outputting said navigation data, including platform velocity, position, heading and time data from said INS processor to said control board via said common bus; and

(h) injecting velocity and acceleration data from said INS processor into a micro-processor of said global positioning system processor to aid a code tracking of global positioning system satellite signals.

3. A positioning and data integrating method, comprising the steps of:

(a) performing GPS processing and receiving GPS navigation solution, including position and velocity, and time from a global positioning system processor and passing said navigation solution to a navigation processing board;

(b) receiving inertial measurements, including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurement into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board through a common bus;

(c) performing INS processing using an INS processor;

(d) blending an output of said INS processor and said GPS measurements in a Kalman filter;

(e) feeding back an output of said Kalman filter to said INS processor to correct an INS navigation solution; and

(f) outputting said navigation data, including platform velocity, position, heading and time data, from said INS processor to said control board through said common bus.

4. A universal navigation and control box, comprising:

an inertial measurement unit (IMU) for providing inertial measurements including body angular rates and specific forces;

a global positioning system (GPS) processor for providing GPS measurements including pseudorange, carrier phase, and Doppler shift;

a central navigation and control processor for processing said GPS measurements and said inertial measurements to derive a navigation solution, which are connected with said GPS processor, said IMU and a data bus, comprising an IMU interface and preprocessing board, a navigation processing board, a shared memory card for storing data, a bus arbiter for monitoring and managing a common bus and a data bus, and a control board for controlling the data stream mutually connected together via said common bus;

wherein

said navigation processing board is connected with said GPS processor and a data bus for receiving said GPS measurements,

said IMU interface and preprocessing board is connected with said IMU for converting said inertial measurements received from said IMU into digital data of body acceleration and rotation which are sent to said navigation processing board and said control board via said common bus, and

said bus interface is connected between said control board and said data bus.