Low cost multisensor high precision positioning and data integrated method and system thereof

• US 6,879,875 B1
• Filed: 09/20/2004
• Issued: 04/12/2005
• Est. Priority Date: 09/20/2003
• Status: Active Grant

• Current Assignee: American GNC Corporation
• Original Assignee: American GNC Corporation
• Inventors: Hu, Guohui, Lin, Ching-Fang
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US10/946,598
• Publication Number:
  US 20050065727A1
• Time in Patent Office: 204 Days
• Field of Search: 342/357.07, 342/357.08, 342/357.13, 342/357.14, 342/386, 342/353, 342/357.06, 244/3.1, 244/3.2, 375/259, 375/377, 600/595, 714/819, 213/36, 700/245, 318/568.1, 701/1, 701/36, 701/200, 701/208, 701/210, 701213-217, 701220-221, 701/301, 340/438, 340/488, 340/990, 340/994
• US Class Current: 700/213
• 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 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• 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

Abstract

The design of the low cost GPS/IMU positioning and data integrating method, which employs integrated global positioning system/inertial measurement unit enhanced with dual antenna GPS carrier phase measurements to initialize and stabilize the azimuth of the low cost GPS/IMU integrated system, is performed. The utilization of the raw carrier phase measurement for the integration speeds up the ambiguity search.

Claims

1. A high precision positioning and data integrated system, comprising:

an inertial measurement unit (IMU) providing IMU data;

two GPS rovers each providing raw data, wherein said raw data includes pseudorange, Doppler shift, carrier phase and ephemeris;

a centralized processing module which comprises a Kalman Filter Integration module and a Navigation Solution module receiving said IMU data from said IMU unit and outputting an object'"'"'s attitude, velocity and position to said Kalman Filter Integration module; and

a GPS raw data module collecting said raw data from said two GPS rovers and sending to said Kalman Filter Integration module of said centralized processing module, wherein said Kalman Filter Integration module determines tilt angle errors, velocity errors, position errors, gyro drifts and accelerometer errors of said Navigation Solution module.