초록 ▼

The invention is a method for determining the relative position and velocity of a second vehicle with respect to a first vehicle. The method is practiced on board the second vehicle and utilizes a plurality of satellite transmitters and an inertial measurement unit on the second vehicle. The first v

The invention is a method for determining the relative position and velocity of a second vehicle with respect to a first vehicle. The method is practiced on board the second vehicle and utilizes a plurality of satellite transmitters and an inertial measurement unit on the second vehicle. The first vehicle has available a plurality of data items consisting of the first vehicle's measured position, measured velocity, and specific-force acceleration. The second vehicle has available data items consisting of the second vehicle's measured position, measured velocity, specific-force acceleration, autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction. The measured position and measured velocity are determined utilizing the radio signals from a plurality of satellite transmitters and the specific-force acceleration is obtained from an inertial measurement unit. The autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction are outputs of an autonomous Kalman filter process, the inputs being derived from the second vehicle's measured position, measured velocity, and specific-force acceleration. The method comprises the steps of (a) obtaining a plurality of the first vehicle's data items from the first vehicle and (b) determining the estimated relative position and the estimated relative velocity of the second vehicle with respect to the first vehicle utilizing the plurality of data items obtained from the first vehicle and one or more of the second vehicle's data items including either the specific-force acceleration or the group of data items consisting of autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction.

대표청구항 ▼

[ What is claimed is:] [1.] A method for determining the relative position and velocity of a second vehicle with respect to a first vehicle, the method being practiced on board the second vehicle, the method utilizing a plurality of satellite transmitters and an inertial measurement unit on the seco

[ What is claimed is:] [1.] A method for determining the relative position and velocity of a second vehicle with respect to a first vehicle, the method being practiced on board the second vehicle, the method utilizing a plurality of satellite transmitters and an inertial measurement unit on the second vehicle, the first vehicle having data items consisting of the first vehicle's measured position, measured velocity, and optionally specific-force acceleration, the measured position and measured velocity being determined utilizing the radio signals from a plurality of satellite transmitters, the specific-force acceleration being obtained from an optional inertial measurement unit, the measured position and measured velocity being expressed as ranges and range rates with respect to the plurality of satellite transmitters or as coordinates in some other predetermined coordinate system, the second vehicle having data items consisting of the second vehicle's measured position, measured velocity, specific-force acceleration, autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction, the measured position and measured velocity being determined utilizing the radio signals from a plurality of satellite transmitters, the specific-force acceleration being obtained from an inertial measurement unit, the measured position and measured velocity being expressed as ranges and range rates with respect to the plurality of satellite transmitters or as coordinates in some other predetermined coordinate system, the autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction being outputs of an autonomous Kalman filter process, the inputs to the autonomous Kalman process being derived from the second vehicle's measured position, measured velocity, and specific-force acceleration, the method comprising the steps:(a) obtaining a plurality of the first vehicle's data items from the first vehicle;(b) determining the estimated relative position and the estimated relative velocity of the second vehicle with respect to the first vehicle utilizing the plurality of data items obtained from the first vehicle and one or more of the second vehicle's data items including either the specific-force acceleration or the group of data items consisting of autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction the estimated relative position and the estimated relative velocity of the second vehicle being respectively the difference between the estimated positions of the first and second vehicles and the difference between the estimated velocities of the first and second vehicles, the estimated position and the estimated velocity of the first vehicle being calculated from either (1) an estimate of gravity at the first vehicle's location an estimated position correction and an estimated velocity correction or (2) the sum of the specific-force acceleration of the first vehicle and an estimate of gravity at the first vehicle's location, an estimated position correction and an estimated velocity correction.