System and method for advanced tight coupling of GPS and inertial navigation sensors
US7274504B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 14, 2005 |
| Grant date | Sep 25, 2007 |
| Priority date | — |
| Expiry date | Jul 6, 2025 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/26
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A system and method for generating a navigation solution in high interference and dynamic environments using Global Positioning System (GPS) and inertial measurement unit (IMU) data is described. The system includes an Advanced Tightly Coupled (ATC) tracking processor for a multi-satellite tracking system. The ATC accepts early, late, and on-time I and Q data from the GPS signal tracker and outputs vehicle-to-satellite range and range rate residual measurements to a navigation Kalman filter. The ATC includes nonlinear discriminators which transform I and Q data into linear residual measurements corrupted by unbiased, additive, and white noise. It also includes an amplitude estimator configured to operate in rapidly changing, high power noise; a measurement noise variance estimator; and a linear residual smoothing filter for input to the navigation filter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.