초록 ▼

A positioning method and system for water and land vehicles is disclosed for highly accurate and self-contained operation. In which, an inertial navigation system (INS) is built on the micro MEMS (MicroElectroMechanicalSystem) IMU that is the core of the position determination system. To compensate

A positioning method and system for water and land vehicles is disclosed for highly accurate and self-contained operation. In which, an inertial navigation system (INS) is built on the micro MEMS (MicroElectroMechanicalSystem) IMU that is the core of the position determination system. To compensate the error of the INS, multiple navigation sensors are integrated into the system. The magnetic sensor is used as a magnetic field sensor to measure the heading of the vehicle. The odometer is used to measure the distance when the vehicle is on land. An automated Zero velocity updating method is used to calibrate the ever increasing INS errors. When the vehicle is in the water, a velocimeter is used to measure water speed for the INS aiding.

대표청구항 ▼

1. A self-contained positioning system of a vehicle, comprising:an inertial navigation system (INS), for sensing a motion of said vehicle to output inertial positioning data including position, velocity, and attitude data and receiving optimal estimates of said inertial positioning data from an inte

1. A self-contained positioning system of a vehicle, comprising:an inertial navigation system (INS), for sensing a motion of said vehicle to output inertial positioning data including position, velocity, and attitude data and receiving optimal estimates of said inertial positioning data from an integration processor to output compensated inertial positioning data; a magnetic sensor, for sensing an earth's magnetic field to measure a heading of said vehicle to output a magnetic heading measurement; an odometer, for measuring a distance traveled when said vehicle is on land; and a velocimeter, for measuring a vehicle speed when said vehicle is in water; wherein said integration processor derives said optimal estimates of said inertial positioning data by integrating said inertial positioning data, said magnetic heading measurement, said distance traveled, and said vehicle speed and feeds back said optimal estimates of said inertial positioning data to said inertial navigation system to calibrate ever increasing inertial positioning errors.