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

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 positioning system for a vehicle, comprising:a global positioning system (GPS) radio frequency (RF) unit for receiving global positioning system (GPS) radio frequency (RF) signals, amplifying said GPS RF signals and down converting said GPS RF signals into intermediate

[ What is claim is:] [1.]1. A positioning system for a vehicle, comprising:a global positioning system (GPS) radio frequency (RF) unit for receiving global positioning system (GPS) radio frequency (RF) signals, amplifying said GPS RF signals and down converting said GPS RF signals into intermediate frequency (IF) signals;a GPS digital signal processing unit for sampling said IF signal and deriving GPS pseudorange, delta range, and carrier phase measurements;an IMU data sampling unit for collecting angular rate and acceleration measurements of said vehicle from an inertial measurement unit (IMU);a centralized navigation Kalman filter for receiving and processing said GPS pseudorange, delta range, and carrier phase measurements for said GPS and said angular rate and acceleration measurements from said IMU;at least an interface which is a serial signal interface, including synchronous communication interface and asynchronous communication interface, for realizing said data and control communication with other avionics systems, wherein said interface is connected with said centralized navigation Kalman filter to realize communication with said avionics systems; anda time synchronizer for providing said time signal and local reference signal to said avionics system devices.