Apparatus and method for determining velocity of a platform
US5787384A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Nov 22, 1995 |
| Grant date | Jul 28, 1998 |
| Priority date | — |
| Expiry date | Nov 22, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/32
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An apparatus and method for determining the velocity of a platform includes a GPS receiver and inertial measurement unit (IMU) located at the platform. The GPS receiver provides GPS navigation data using a plurality of GPS satellites while the inertial measurement unit provides inertial navigation data. Acceleration computed from the GPS navigation data is combined with the inertial acceleration generated from the IMU using a Kalman filter to generate a substantially IMU-bias free acceleration of the platform. The resultant acceleration measurement and the GPS navigation data are used to calculate the velocity of the platform in conjunction with a second Kalman filter for removing GPS systematic errors that are normally removed by use of a ground reference station.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.