Inertial GPS navigation system using injected alignment data for the inertial system
US7346452B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 2, 2004 |
| Grant date | Mar 18, 2008 |
| Priority date | — |
| Expiry date | Feb 18, 2025 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/55
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An inertial (“INS”)/GPS receiver uses injected alignment data to determine the alignment of the INS sub-system when the receiver is in motion during start-up. The alignment data is determined from parameterized surface information, measured GPS velocity, and a known or predetermined angular relationship between the vehicle on which the receiver is mounted and an inertial measurement reference, or body, frame associated with the accelerometers and gyroscopes of the inertial measuring unit (“IMU”). The parameterized surface information, which provides a constraint, may be the orientation of the surface over which the vehicle that houses the receiver is moving. The receiver uses the initial GPS position to determine the location of the vehicle on the parameterized surface, and thus, the known surface orientation. The receiver then determines the roll, pitch and heading of the vehicle on the surface using the associated GPS velocity vector. Thereafter, the receiver uses the calculated roll, pitch and heading of the vehicle and the known or predetermined angular relationship between the vehicle and the IMU body frame to determine a rotation matrix that relates the IMU body frame to a co…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.