초록 ▼

An improved positioning and data integrating process and system can substantially solve the problems encountered in system integration for personal hand-held applications, air, land, and water vehicles, wherein an integrated global positioning system/inertial measurement unit, enhanced with optional

An improved positioning and data integrating process and system can substantially solve the problems encountered in system integration for personal hand-held applications, air, land, and water vehicles, wherein an integrated global positioning system/inertial measurement unit, enhanced with optional other devices to derive user position, velocity, attitude, and body acceleration and rotation information, and distributes these data to other onboard systems, for example, in case of aircraft application, flight management system, flight control system, automatic dependent surveillance, cockpit display, enhanced ground proximity warning system, weather radar, and satellite communication system.

대표청구항 ▼

1. A positioning and data integrating method, comprising the steps of:(a) performing GPS processing and receive GPS measurements, including pseudorange, carrier phase, Doppler shift, and time from a global positioning system processor, and passing said GPS measurements to a navigation processing boa

1. A positioning and data integrating method, comprising the steps of:(a) performing GPS processing and receive GPS measurements, including pseudorange, carrier phase, Doppler shift, and time from a global positioning system processor, and passing said GPS measurements to a navigation processing board of a central navigation processor; (b) receiving inertial measurements, including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board via a common bus; (c) receiving an earth's magnetic vector measurement from a magnetometer and a pitch and roll angle from a navigation board through said common bus, computing a magnetic heading angle using said earth's magnetic vector measurement and said pitch and roll angle by a north finder interface and processing board, and sending said magnetic heading angle to said navigation processing board through said common bus; (d) performing an inertial navigation system (INS) processing using an INS processor; (e) blending an output of said INS processor and said GPS measurements in a Kalman filter; (f) feeding back an output of said Kalman filter to said INS processor to correct an INS navigation solution: (g) injecting said velocity and acceleration data from said INS processor into a signal processor of said global positioning system processor to aid said code and carrier phase tracking of said global positioning system satellite signals; (h) injecting said output of said signal processor of said global positioning system processor, said output of said INS processor, said output of said Kalman filter into a carrier phase integer ambiguity resolution module to fix a global positioning system satellite signal carrier phase integer ambiguity number (i) outputting said carrier phase integer number from said carrier phase integer ambiguity resolution module into said Kalman filter to further improve said positioning accuracy; and (j) outputting said navigation data which are platform velocity, position, heading, and time data from said INS processor to said control board through said common bus.