IPC분류정보
국가/구분 |
United States(US) Patent
등록
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국제특허분류(IPC7판) |
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출원번호 |
US-0726086
(2015-05-29)
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등록번호 |
US-9983315
(2018-05-29)
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발명자
/ 주소 |
- Alexander, Steven B.
- Redhead, Richard F.
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출원인 / 주소 |
- Interstate Electronics Corporation
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대리인 / 주소 |
Knobbe, Martens, Olson & Bear LLP
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인용정보 |
피인용 횟수 :
0 인용 특허 :
22 |
초록
▼
Apparatus and methods determine the rotational position of a spinning object. A satellite positioning system can be used to determine the spatial position of an object, which in turn can be used to guide the object. An adaptive sideband filter is used to provide increased robustness against interfer
Apparatus and methods determine the rotational position of a spinning object. A satellite positioning system can be used to determine the spatial position of an object, which in turn can be used to guide the object. An adaptive sideband filter is used to provide increased robustness against interference. However, when the object is spinning, such as an artillery shell, then the rotational orientation should be known in order to properly actuate the control surfaces, such as fins, which will also be spinning.
대표청구항
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1. An apparatus comprising: an adaptive sideband filter configured to separately filter sidebands and a center frequency of a correlated in-phase signal and a correlated quadrature-phase signal to generate a filtered correlated in-phase signal and a filtered correlated quadrature-phase signal; anda
1. An apparatus comprising: an adaptive sideband filter configured to separately filter sidebands and a center frequency of a correlated in-phase signal and a correlated quadrature-phase signal to generate a filtered correlated in-phase signal and a filtered correlated quadrature-phase signal; anda space vehicle (SV) power modulation tracker configured to determine an angular orientation of a spinning object based at least partly on at least one of the filtered correlated in-phase signal or the filtered correlated quadrature-phase signal, wherein the adaptive sideband filter further comprises:a first positive phase rotator configured to positively phase rotate samples of the correlated in phase signal and the correlated quadrature phase signal by an amount per sample to generate a positively phase shifted in-phase signal and a positively phase shifted quadrature phase signal, respectively, wherein the amount per sample is related to an amount of rotation of the spinning object between a start of an integration period and a start of a sample period of the particular sample;a first integrator configured to coherently integrate samples of the positively shifted in-phase signal and the positively shifted quadrature phase signal to generate first raw complex integration results at ends of integration periods;a first negative phase rotator configured to negatively phase rotate the first raw complex integration results by an angle to generate first complex integration results, wherein the angle corresponds to a total amount of rotation of the spinning object from the start of a first sample of the integration period to the start of a last sample of the integration period;a second negative phase rotator configured to negatively phase rotate samples of the correlated in phase signal and the correlated quadrature phase signal by the amount per sample to generate a negatively phase shifted in-phase signal and a negatively phase shifted quadrature phase signal, respectively;a second integrator configured to coherently integrate samples of the negatively shifted in-phase signal and the negatively shifted quadrature phase signal to generate second raw complex integration results at ends of integration periods;a second positive phase rotator positively phase rotate the second raw complex integration results by the angle to generate second complex integration results;a third integrator configured to coherently integrate the correlated in phase signal and the correlated quadrature phase signal over the integration periods to generate third complex integration results; anda summer configured to sum the first, second, and third complex integration results to generate samples of the filtered correlated in phase signal and the filtered correlated quadrature phase signal. 2. The apparatus of claim 1, further comprising a positioning processor configured to acquire satellite positioning signals from a plurality of space vehicles and to generate the correlated in-phase signal and the correlated quadrature-phase signal from each of at least a portion of the plurality of acquired satellite positioning signals. 3. The method of claim 2, wherein the positioning processor is further configured to determine a translational position and a translational velocity of the spinning object based on the correlated in-phase signal and the correlated quadrature-phase signal and not on the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal. 4. The apparatus of claim 1, wherein the SV power modulation tracker is further configured to determine a roll phase relative to each of the space vehicles corresponding to at least a selected group of the acquired plurality of satellite positioning signals by phase locking to an amplitude modulation of at least one of the filtered correlated in-phase signal or the filtered correlated quadrature-phase signal for each of the selected group of the acquired plurality of satellite positioning signals, wherein the amplitude modulation is caused by rolling of the object. 5. The apparatus of claim 1, wherein the adaptive sideband filter is further configured to; filter a first sideband in a first path;filter a second sideband in a second path;filter the center frequency in a third path; andcombine results of filtering of the first path, the second path, and the third path to generate the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal. 6. The apparatus of claim 1, wherein the integration period is 20 milliseconds. 7. The apparatus of claim 1, wherein the integration period corresponds to a time period between symbols of a navigation message. 8. The apparatus of claim 1, wherein the summer is configured to sum in an equally-weighted manner. 9. An apparatus comprising: an adaptive sideband filter configured to separately filter sidebands and a center frequency of a correlated in-phase signal and a correlated quadrature-phase signal to generate a filtered correlated in-phase signal and a filtered correlated quadrature-phase signal; anda space vehicle (SV) power modulation tracker configured to determine an angular orientation of a spinning object based at least partly on at least one of the filtered correlated in-phase signal or the filtered correlated quadrature-phase signal,wherein the adaptive sideband filter is further configured to:collect first samples of the correlated in-phase signal and the correlated quadrature-phase signal per integration period;generate second samples from the first samples, wherein the second samples are positively phase rotated from the first samples by an amount per sample to compensate for a corresponding amount of rotation of the spinning object from a start of an integration period to a start of a sample period corresponding to the particular sample;generate third samples from the first samples, wherein the third samples are negatively phase rotated from the first samples by an amount per sample to compensate for a corresponding amount of rotation of the spinning object;coherently integrate the second samples to generate a first raw complex integration result per integration period;coherently integrate the third samples to generate a second raw complex integration result per integration period;negatively phase rotate the first raw complex integration results by an angle to generate first complex integration results, wherein the angle corresponds to a total amount of rotation of the spinning object from the start of a first sample of the integration period to the start of a last sample of the integration period;positively phase rotate the second raw complex integration results by the angle to generate second complex integration results;coherently integrate the first samples per integration period to generate third complex integration results; andsum the first, second, and third complex integration results to generate samples of the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal per integration period. 10. The apparatus of claim 9, wherein the integration period is 20 milliseconds. 11. The apparatus of claim 9, wherein the integration period corresponds to a time period between symbols of a navigation message. 12. The apparatus of claim 9, wherein the sum is performed in an equally-weighted manner. 13. A method for filtering, the method comprising: receiving a correlated in-phase signal and a correlated quadrature-phase signal, wherein the correlated in-phase signal and the correlated quadrature-phase signal contain sidebands due to power modulation from rolling of a spinning object;separately filtering the sidebands and a center frequency of the correlated in-phase signal and the correlated quadrature-phase signal to generate a filtered correlated in-phase signal and a filtered correlated quadrature-phase signal; anddetermining an angular orientation of the spinning object based at least partly on at least one of the filtered correlated in-phase signal or the filtered correlated quadrature-phase signal,wherein separately filtering further comprises: positively phase rotating samples of the correlated in-phase signal and the correlated quadrature-phase signal by an amount per sample to generate a positively phase-shifted in-phase signal and a positively phase-shifted quadrature-phase signal, respectively, wherein the amount per sample is related to an amount of rotation of the spinning object between a start of an integration period and a start of a sample period of the particular sample;coherently integrating samples of the positively-shifted in-phase signal and the positively-shifted quadrature-phase signal to generate first raw complex integration results at ends of integration periods;negatively phase rotating the first raw complex integration results by an angle to generate first complex integration results, wherein the angle corresponds to an amount of rotation of the spinning object during the integration period;negatively phase rotating samples of the correlated in-phase signal and the correlated quadrature-phase signal by the amount per sample to generate a negatively phase-shifted in-phase signal and a negatively phase-shifted quadrature-phase signal, respectively;coherently integrating samples of the negatively-shifted in-phase signal and the negatively-shifted quadrature-phase signal to generate second raw complex integration results at ends of integration periods;positively phase rotating the second raw complex integration results by the angle to generate second complex integration results;coherently integrating the correlated in-phase signal and the correlated quadrature-phase signal over the integration periods to generate third complex integration results; andsumming the first, second, and third complex integration results to generate samples of the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal. 14. The method of claim 13, further comprising determining a translational position and a translational velocity of the spinning object based on the correlated in-phase signal and the correlated quadrature-phase signal and not on the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal. 15. The method of claim 13, wherein separately filtering further comprises: filtering a first sideband in a first path;filtering a second sideband in a second path;filtering the center frequency in a third path; andcombining results of filtering of the first path, the second path, and the third path to generate the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal. 16. The method of claim 13, wherein the integration period is 20 milliseconds. 17. The method of claim 13, wherein the integration period corresponds to a time period between symbols of a navigation message. 18. The method of claim 13, wherein summing is performed in an equally-weighted manner. 19. A method for filtering, the method comprising: receiving a correlated in-phase signal and a correlated quadrature-phase signal, wherein the correlated in-phase signal and the correlated quadrature-phase signal contain sidebands due to power modulation from rolling of a spinning object;separately filtering the sidebands and a center frequency of the correlated in-phase signal and the correlated quadrature-phase signal to generate a filtered correlated in-phase signal and a filtered correlated quadrature-phase signal; anddetermining an angular orientation of the spinning object based at least partly on at least one of the filtered correlated in-phase signal or the filtered correlated quadrature-phase signal,wherein separately filtering further comprises: collecting first samples of the correlated in-phase signal and the correlated quadrature-phase signal per integration period;generating second samples from the first samples, wherein the second samples are positively phase rotated from the first samples by an amount per sample to compensate for a corresponding amount of rotation of the spinning object;generating third samples from the first samples, wherein the third samples are negatively phase rotated from the first samples by an amount per sample to compensate for a corresponding amount of rotation of the spinning object from a start of an integration period to a start of a sample period corresponding to the particular sample;coherently integrating the second samples to generate a first raw complex integration result per integration period;coherently integrating the third samples to generate a second raw complex integration result per integration period;negatively phase rotating the first raw complex integration results by an angle to generate first complex integration results, wherein the angle corresponds to a total amount of rotation of the spinning object from the start of a first sample of the integration period to the start of a last sample of the integration period;positively phase rotating the second raw complex integration results by the angle to generate second complex integration results;coherently integrating the first samples per integration period to generate third complex integration results; andsumming the first, second, and third complex integration results to generate samples of the filtered correlated in-phase signal and the filtered correlated quadrature-phase signal per integration period. 20. The method of claim 19, wherein the integration period is 20 milliseconds. 21. The method of claim 19, wherein the integration period corresponds to a time period between symbols of a navigation message. 22. The method of claim 19, wherein summing is performed in an equally-weighted manner.
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