GPS/INS vehicle attitude system
First Claim
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1. A system to determine the attitude of a ground vehicle, comprising:
- (a) a one-satellite vehicle attitude system having only one satellite providing signals to resolve a first attitude of said ground vehicle;
(b) a multiple-satellite vehicle attitude system having multiple satellites providing signals to resolve a second attitude of said ground vehicle;
(c) a monitoring and decision means to determine whether to use said first attitude of said ground vehicle resolved from said one satellite or said second attitude of said ground vehicle resolved from said multiple satellites;
(d) an inertial navigation system associated with said ground vehicle for measuring inertial components of said ground vehicle to enhance the output of said monitoring and decision means regarding said first and second attitude of said ground vehicle; and
(e) an estimator configured to estimate a third attitude of said ground vehicle based on said output of said monitoring and decision means and said enhanced first or second attitude of said ground vehicle.
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Abstract
Systems are provided to increase the robustness of a low-cost GPS system by coupling it with an INS system, and by using one-satellite attitude determination in conjunction with the traditional multiple-satellite method. The system has demonstrated accuracy and robustness approaching needed standards for automobile control systems. The applications of this system are abundant, including real-time vehicle system ID, slip angle estimation, position estimation by GPS and dead reckoning, as well as sophisticated control systems.
28 Citations
3 Claims
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1. A system to determine the attitude of a ground vehicle, comprising:
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(a) a one-satellite vehicle attitude system having only one satellite providing signals to resolve a first attitude of said ground vehicle; (b) a multiple-satellite vehicle attitude system having multiple satellites providing signals to resolve a second attitude of said ground vehicle; (c) a monitoring and decision means to determine whether to use said first attitude of said ground vehicle resolved from said one satellite or said second attitude of said ground vehicle resolved from said multiple satellites; (d) an inertial navigation system associated with said ground vehicle for measuring inertial components of said ground vehicle to enhance the output of said monitoring and decision means regarding said first and second attitude of said ground vehicle; and (e) an estimator configured to estimate a third attitude of said ground vehicle based on said output of said monitoring and decision means and said enhanced first or second attitude of said ground vehicle. - View Dependent Claims (2, 3)
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Specification
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Current AssigneeBoard of Trustees of the Leland Stanford Junior University (Stanford Management Co.)
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Original AssigneeBoard of Trustees of the Leland Stanford Junior University (Stanford Management Co.)
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InventorsAlban, Santiago, Rock, Stephen M., Powell, J. David
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Primary Examiner(s)To; Tuan C
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Application NumberUS10/944,458Publication NumberTime in Patent Office1,523 DaysField of Search701/213, 701/215, 701/13, 701/207, 342/357.14, 342/357.06, 342/357.11, 342/357.15, 340/429US Class Current701/213CPC Class CodesG01C 21/165 combined with non-inertial ...G01S 19/54 using carrier phase measure...
