초록 ▼

A full fusion positioning method, which can be implemented in the existing hardware, but is more amenable to the emerging wafer-scale integration hardware, comprises the steps of injecting a global positioning system signal received by a global positioning system antenna and a predicted pseudorange

A full fusion positioning method, which can be implemented in the existing hardware, but is more amenable to the emerging wafer-scale integration hardware, comprises the steps of injecting a global positioning system signal received by a global positioning system antenna and a predicted pseudorange and delta range from a data fusion, and converting and tracking said global positioning system signal to obtain pseudorange and delta range measurement and errors of said pseudorange and delta range measurement, which are passed to said data fusion; receiving a vehicle angular rate and an acceleration signal/data from an inertial measurement unit and solving inertial navigation equations for obtaining a referencing navigation solution, including position, velocity, and attitude, which are passed to a data fusion; and fusing said pseudorange and delta range measurement and said errors of said pseudorange and delta range measurement of said global positioning system and said referencing navigation solution to obtain predicted pseudorange and delta range, optimal estimates of said referencing navigation solution errors and inertial sensor errors, and optimal position information.

대표청구항 ▼

[ What is claimed is:] [1.]1. A full fusion positioning method, comprising the steps of:(a) receiving Global Positioning System (GPS) signals by a GPS receiver, which are Radio Frequency (RF) signals, within a current epoch for a carrier by a GPS antenna carried by said carrier and previous predicte

[ What is claimed is:] [1.]1. A full fusion positioning method, comprising the steps of:(a) receiving Global Positioning System (GPS) signals by a GPS receiver, which are Radio Frequency (RF) signals, within a current epoch for a carrier by a GPS antenna carried by said carrier and previous predicted pseudorange and delta range measurements for a previous epoch from a data fusion device carried by said carrier, and converting and tracking said GPS signals by using said GPS signals and said previous predicted pseudorange and delta range measurements to obtain a pseudorange and delta range measurements and tracking errors of said pseudorange and delta range measurements, which are passed to said data fusion device;(b) producing an angular rate and an acceleration data for said carrier by an Inertial Measurement Unit (IMU) carried by said carrier within said current epoch, receiving optimal estimate of navigation solution errors and IMU errors for said previous epoch from said data fusion device, and solving inertial navigation equations by using said angular rate and said acceleration data to obtain a referencing navigation solution of said carrier, including position, velocity and attitude of said carrier, for said current epoch, which are passed to said data fusion device; and(c) fusing said pseudorange measurement and delta range measurements, said tracking errors of said pseudorange and delta range measurements, and said referencing navigation solution for said current epoch, so as to:produce current predicted pseudorange and delta range measurements for said current epoch;produce optimal estimate of said referencing navigation solution errors and IMU errors for said current epoch and optimal estimate of clock offset and offset rate of said GPS receiver for said current epoch;remove said errors of said referencing navigation solution using said optimal estimate of said referencing navigation solution errors and IMU errors to provide a corrected navigation solution; andoutput said corrected navigation solution of said carrier.