[특허]GPS-based roll rate and roll angle measurement in the absence of jamming

Mayflower Communications Company, Inc.

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GPS-based roll rate and roll angle measurement in the absence of jamming

국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01S-019/53
미국특허분류(USC)	342/357.36;
출원번호	US-0373494 (2011-11-16)
등록번호	US-8269667 (2012-09-18)
발명자 / 주소	Vander Velde, Wallace E. Cafarella, John H. Tseng, Huan-Wan Dimos, George Upadhyay, Triveni N. Luo, Jianhui
출원인 / 주소	Mayflower Communications Company, Inc.
대리인 / 주소	Kumar, Kaplesh
인용정보	피인용 횟수 : 1 인용 특허 : 28

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A system and method for determining the roll rate and roll angle of a spinning platform by using the measured phase and/or amplitude differences between the GPS satellite signals received on two or more antennas. The measured signal differences and the navigation solution from a GPS receiver are processed in a roll filter to obtain the desired information. Data from non-GPS measurement sources is optionally provided to update the navigation solution. Although of wide applicability, the invention is uniquely suited to the measurement of roll rates and rol...

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1. A system for determining the roll rate and roll angle of a spinning platform comprising: a plurality of antennas for receiving GPS signals from at least one satellite, each antenna outputting an antenna signal for each received signal;a GPS receiver processor for forming the navigation solution; anda roll processor, for correlating each of the antenna signals separately, measuring the amplitude differences between the correlated signals from pairs of antennas, and processing the measured amplitude differences and navigation solution in a roll filter that outputs roll information, said roll filter including roll angle as a filter state variable. 2. The system of claim 1, wherein the plurality of antennas comprises at least two antennas. 3. The system of claim 1, wherein the plurality of antennas comprises at least three antennas. 4. The system of claim 1, wherein the roll filter includes a Kalman filter. 5. The system of claim 4, wherein the Kalman filter includes an Extended Kalman Filter. 6. The system of claim 3 wherein the pairs of antennas includes adjacent pairs of antennas. 7. The system of claim 6 wherein the adjacent pairs of antennas includes adjacent pairs of antennas that change with platform roll. 8. The system of claim 1 wherein the navigation solution is formed with the antenna signals. 9. The system of claim 1 wherein the navigation solution is formed with the antenna signals and data from a non-GPS measurement source. 10. The system of claim 1, wherein roll information includes roll angle. 11. The system of claim 1, wherein roll information includes roll rate. 12. The system of claim 1, wherein the roll filter employs a probabilistic data association (PDA) algorithm. 13. A system for determining the roll rate and roll angle of a spinning platform comprising: a plurality of antennas for receiving GPS signals from at least one satellite, each antenna outputting an antenna signal for each received signal;a GPS receiver processor for forming the navigation solution; and aroll processor, for correlating each of the antenna signals separately, measuring the amplitude and phase differences between the correlated signals from pairs of antennas, and processing the measured amplitude and phase differences and navigation solution in a roll filter that outputs roll information, said roll filter including roll angle as a filter state variable. 14. The system of claim 13, wherein the plurality of antennas comprises at least two antennas. 15. The system of claim 13, wherein the plurality of antennas comprises at least three antennas. 16. The system of claim 13, wherein the roll filter includes a Kalman filter. 17. The system of claim 16, wherein the Kalman filter includes an Extended Kalman Filter. 18. The system of claim 15 wherein the pairs of antennas includes adjacent pairs of antennas. 19. The system of claim 18 wherein the adjacent pairs of antennas includes adjacent pairs of antennas that change with platform roll. 20. The system of claim 13 wherein the navigation solution is formed with the antenna signals. 21. The system of claim 13 wherein the navigation solution is formed with the antenna signals and data from a non-GPS measurement source. 22. The system of claim 13, wherein roll information includes roll angle. 23. The system of claim 13, wherein roll information includes roll rate. 24. The system of claim 13, wherein the roll filter employs a probabilistic data association (PDA) algorithm. 25. A method for determining the roll rate and roll angle of a spinning platform comprising the steps of receiving GPS signals on a plurality of antennas from at least one satellite and outputting an antenna signal for each received signal;forming the navigation solution;correlating each of the antenna signals separately;measuring amplitude differences between the correlated signals from pairs of antennas; andprocessing the measured amplitude differences and navigation solution in a roll filter that outputs roll information, said roll filter including roll angle as a filter state variable. 26. The method of claim 25, wherein the plurality of antennas comprises at least two antennas. 27. The method of claim 25, wherein the plurality of antennas comprises at least three antennas. 28. The method of claim 25, wherein the roll filter includes a Kalman filter. 29. The method of claim 28, wherein the roll filter includes an Extended Kalman filter. 30. The method of claim 27 wherein the pairs of antennas includes adjacent pairs of antennas. 31. The method of claim 30 wherein the adjacent pairs of antennas includes adjacent pairs of antennas that change with platform roll. 32. The method of claim 25 wherein the navigation solution is formed with the GPS antenna signals. 33. The method of claim 25 wherein the navigation solution is formed with the GPS antenna signals and data from a non-GPS measurement source. 34. The method of claim 25, wherein the roll filter employs a probabilistic data association (PDA) algorithm. 35. A method for determining the roll rate and roll angle of a spinning platform comprising the steps of receiving GPS signals on a plurality of antennas from at least one satellite and outputting an antenna signal for each received signal;forming the navigation solution;correlating each of the antenna signals separately;measuring amplitude and phase differences between the correlated signals from pairs of antennas; andprocessing the measured amplitude and phase differences and navigation solution in a roll filter that outputs roll information, said roll filter including roll angle as a filter state variable. 36. The method of claim 35, wherein the plurality of antennas comprises at least two antennas. 37. The method of claim 35, wherein the plurality of antennas comprises at least three antennas. 38. The method of claim 35, wherein the roll filter includes a Kalman filter. 39. The method of claim 38, wherein the roll filter includes an Extended Kalman filter. 40. The method of claim 37 wherein the pairs of antennas includes adjacent pairs of antennas. 41. The method of claim 40 wherein the adjacent pairs of antennas includes adjacent pairs of antennas that change with platform roll. 42. The method of claim 35 wherein the navigation solution is formed with the GPS antenna signals. 43. The method of claim 35 wherein the navigation solution is formed with the GPS antenna signals and data from a non-GPS measurement source. 44. The method of claim 35, wherein the roll filter employs a probabilistic data association (PDA) algorithm.

이 특허에 인용된 특허 (28)

이 특허를 인용한 특허 피인용횟수: 1

Gibbons, Gregory A.. Estimation of roll and roll rate of a spinning body based on a signal received from a remote transmitter. USP2017059645251.

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GPS-based roll rate and roll angle measurement in the absence of jamming

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