Navagation apparatus with improved attitude determination
US5543804A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 13, 1994 |
| Grant date | Aug 6, 1996 |
| Priority date | — |
| Expiry date | Sep 13, 2014 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/54
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The navigation apparatus with improved attitude determination is intended for use on a mobile platform. It combines data from a platform inertial navigation unit and carrier phase data for a plurality of GPS satellite signals received at a plurality of receiving points on the platform for the purpose of obtaining estimates of the navigation states of the platform. The navigation apparatus comprises a processor which computes estimates of the states from inputs comprising (1) one or more measured phase double-differences calculated from the measured satellite signal carrier phases, (2) the estimated position of the platform, (3) the estimated positions of the receiving points, and (4) the positions of the satellites, a phase double-difference being defined as the difference in phase differences for signals received from two satellites and a phase difference being defined as the difference in carrier phase of a satellite signal received at two receiving points. The navigation and attitude determination solution is obtained by means of a Kalman filter process wherein the observables comprise measured phase double-differences and each predicted phase double-difference is obtained by op…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.