[특허]Fully-coupled positioning process and system thereof

Fully-coupled positioning process and system thereof 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01C-021/00
출원번호	US-0197958 (1998-11-20)
발명자 / 주소	Lin Ching-Fang
출원인 / 주소	American GNC Corporation
대리인 / 주소	Chan
인용정보	피인용 횟수 : 46 인용 특허 : 0

초록 ▼

A positioning method and a system are disclosed for measuring a position of a vehicle on land, air, and space, using measurements from a global positioning system receiver and an inertial measurement unit. In the present invention, an integrated Kalman filter processes the all-available measurements of the global positioning system: pseudorange, delta range, carrier phase, and the solution of an inertial navigation system. The integrated Kalman filter is a multi-mode, robust kalman filter, in which optimal integrated mode is selected based on the measurement availability and filter stability. The high accurate solution of the inertial navigation system, which is corrected by the Kalman filter, is used to aid on-the-fly resolution of the carrier phase integer ambiguity of global positioning system in order to incorporate the carrier phase measurements into the Kalman filter, and to aid the carrier phase and code tracking loops of the receiver of the global positioning system to improve the receiver jamming and high dynamic resistance.

대표청구항 ▼

[ What is claim is:] [1.]1. A fully-coupled positioning process for a vehicle, comprising the steps of:(a) receiving initial global positioning system (GPS) radio frequency signals within an epoch by using one single global positioning system (GPS) receiving set carried by said vehicle;(b) deriving initial GPS pseudoranges, delta ranges, and carrier phase measurements from said initial GPS radio frequency signals received by said GPS receiving set;(c) providing initial angular rate measurements and initial acceleration measurements within said epoch for said vehicle from an inertial measurement unit (IMU) carried by said vehicle, and initial position, velocity and attitude measurements within said epoch for said vehicle to compute an initial inertial navigation solution;(d) resolving a carrier phase ambiguity to obtain carrier phase ambiguity numbers within said epoch, based on said GPS peudoranges, said delta ranges, said carrier phase measurements, and said initial inertial navigation solution within said epoch;(e) detecting cycle slip occurring within said epoch to obtain a plurality of slip cycles based on said GPS peudoranges, said delta ranges, said carrier phase measurements, and said initial inertial navigation solution within said epoch, wherein said initial carrier phase ambiguity numbers within said epoch are corrected by using said slip cycles when said cycle slip is detected; and(f) combining said GPS pseudoranges, said delta ranges, said carrier phase measurements, said carrier phase ambiguity numbers, and said initial inertial navigation solution within said epoch to provide a fully-coupled positioning solution for said epoch.

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