Inertial GPS navigation system with modified kalman filter
US7193559B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 15, 2004 |
| Grant date | Mar 20, 2007 |
| Priority date | — |
| Expiry date | May 31, 2024 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/49
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An inertial (“INS”)/GPS receiver includes an INS sub-system which incorporates, into a modified Kalman filter, GPS observables and/or other observables that span previous and current times. The INS filter utilizes the observables to update position information relating to both the current and the previous times, and to propagate the current position, velocity and attitude related information. The GPS observable may be delta phase measurements, and the other observables may be, for example, wheel pick-offs (or counts of wheel revolutions) that are used to calculate along track differences, and so forth. The inclusion of the measurements in the filter together with the current and the previous position related information essentially eliminates the effect of system dynamics from the system model. A position difference can thus be formed that is directly observable by the phase difference or along track difference measured between the previous and current time epochs. Further, the delta phase measurements can be incorporated in the INS filter without having to maintain GPS carrier ambiguity states. The INS sub-system and the GPS sub-system share GPS and INS position and covariance inf…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.