US6088653A
Expired / Lapsed
US
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Attitude determination method and system
Assignee: Honeywell Inc
•
Filing: 1996-12-31
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Granted: 2000-07-11
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Expires: 2016-12-31
Abstract
Abstract A method for use in vehicle attitude determination includes generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles. An inertial navigation system is initialized by setting the attitude of the inertial navigation system to a GPS attitude solution generated for the vehicle and/or the attitude of the inertial navigation system is updated using the GPS attitude solutions generated for the vehicle or GPS estimated attitude error generated for the vehicle. A system for use in vehicle navigation is also provided. The system generally includes three or more GPS antenna/receiver sets associated with a vehicle, an inertial measurement unit that provides inertial measurements for the vehicle, a processing unit of the system having the capability for generating GPS attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles; the GPS attitude computations include at least one of absolute attitudes and estimated attitude errors. The processing unit of the system also includes a filter for generating estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.
Inventors
- 👤 Suneel I. Sheikh
- 👤 Lawrence C. Vallot
- 👤 Brian W. Schipper
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 23:06
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/10; G01C21/12; G01C21/16; G01C21/183; G01C21/188; G01C21/165; G01S; G01S19/00; G01S19/38; G01S19/39; G01S19/53; G01S19/54; G01S19/55; G01S19/01; G01S19/13; G01S19/35; G01S19/36
Claims Analysis
Total Claims: 36
Claim 1
Independent Claim
101 words
A method for use in vehicle attitude determination, the method comprising the steps of: providing an inertial navigation system including a filter for receiving at least one or more inertial measurements for use in generating a vehicle attitude estimate; generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles independent of the inertial measurements; providing the GPS attitude solutions to the filter; and initializing the inertial navigation system by setting the vehicle attitude estimate of the inertial navigation system to one of the GPS attitude solutions generated for the vehicle.
Claim 2
Independent Claim
101 words
A method for use in vehicle attitude determination, the method comprising the steps of: providing an inertial navigation system including a filter for receiving at least one or more inertial measurements for use in generating a vehicle attitude estimate; generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles independent of the inertial measurements; providing the GPS attitude solutions to the filter; and initializing the inertial navigation system by setting the vehicle attitude estimate of the inertial navigation system to one of the GPS attitude solutions generated for the vehicle.
Claim 3
Dependent Claim
42 words
The method according to claim 1, wherein the method further includes aligning the inertial navigation system by updating the vehicle attitude estimate of the initialized inertial navigation system using the GPS attitude solutions generated for the vehicle independent of the inertial measurements.
Claim 4
Dependent Claim
53 words
The method according to claim 2, wherein the aligning step includes updating the vehicle attitude estimate of the initialized inertial navigation system using an attitude error generated from the difference between an attitude generated using inertial measurements from a inertial measurement unit and a GPS attitude solution generated independent of the inertial measurements.
Claim 5
Dependent Claim
20 words
The method according to claim 2, wherein the initialization and alignment steps are performed when the vehicle is in motion.
Claim 6
Dependent Claim
54 words
The method according to claim 1, wherein the method further includes: computing GPS estimated attitude errors using the three or more antennas receiving GPS signals from two or more space vehicles; and aligning the inertial navigation system by updating the vehicle attitude estimate of the inertial navigation system using the GPS estimated attitude errors.
Claim 7
Dependent Claim
20 words
The method according to claim 5, wherein the initialization and alignment steps are performed when the vehicle is in motion.
Claim 8
Dependent Claim
44 words
The method according to claim 5, wherein the computation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using inertial measurements.
Claim 9
Dependent Claim
45 words
The method according to claim 5, wherein the computation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using prior GPS measurements.
Claim 10
Dependent Claim
47 words
The method according to claim 5, wherein the computation step includes: providing an estimated vehicle attitude; and determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.
Claim 11
Dependent Claim
27 words
The method according to claim 9, wherein the determining step includes iteratively estimating the error in the estimated vehicle attitude to attain the GPS estimated attitude error.
Claim 12
Dependent Claim
24 words
The method according to claim 9, wherein the determining step includes estimating the error in the estimated vehicle attitude using differential carrier phase measurements.
Claim 13
Dependent Claim
38 words
The method according to claim 9, wherein the determining step includes estimating the error in the estimated vehicle attitude using GPS measured positions of the at least three antennas using signals from the at least two space vehicles.
Claim 14
Dependent Claim
35 words
The method according to claim 1, wherein the method further includes updating the vehicle attitude estimate of the inertial navigation system using the GPS attitude solutions generated for the vehicle independent of the inertial measurements.
Claim 15
Dependent Claim
52 words
The method according to claim 13, wherein the updating step includes updating the vehicle attitude estimate of the inertial navigation system using an attitude error generated from the difference between an attitude generated using inertial measurements of an inertial measurement unit and a GPS attitude solution generated independent of the inertial measurements.
Claim 16
Dependent Claim
48 words
The method according to claim 1, wherein the method further includes: computing GPS estimated attitude errors using the three or more antennas receiving GPS signals from two or more space vehicles; and updating the vehicle attitude estimate of the inertial navigation system using the GPS estimated attitude errors.
Claim 17
Dependent Claim
47 words
The method according to claim 15, wherein the computation step includes: providing an estimated vehicle attitude; and determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.
Claim 18
Independent Claim
86 words
A method for use in vehicle attitude determination, the method comprising the steps of: providing an inertial navigation system including a filter for receiving at least one or more inertial measurements for use in generating a vehicle attitude estimate; generating GPS estimated attitude errors for a vehicle using at least three antennas receiving signals from at least two space vehicles; providing the GPS estimate attitude errors to the filter; and updating the vehicle attitude estimate of an inertial navigation system using the GPS estimated attitude errors.
Claim 19
Independent Claim
86 words
A method for use in vehicle attitude determination, the method comprising the steps of: providing an inertial navigation system including a filter for receiving at least one or more inertial measurements for use in generating a vehicle attitude estimate; generating GPS estimated attitude errors for a vehicle using at least three antennas receiving signals from at least two space vehicles; providing the GPS estimate attitude errors to the filter; and updating the vehicle attitude estimate of an inertial navigation system using the GPS estimated attitude errors.
Claim 20
Dependent Claim
44 words
The method according to claim 17, wherein the generation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using inertial measurements.
Claim 21
Dependent Claim
45 words
The method according to claim 17, wherein the generation step includes generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using prior GPS measurements.
Claim 22
Dependent Claim
47 words
The method according to claim 17, wherein the generation step includes: providing an estimated vehicle attitude; and determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.
Claim 23
Dependent Claim
27 words
The method according to claim 20, wherein the determining step includes iteratively estimating the error in the estimated vehicle attitude to attain the GPS estimated attitude error.
Claim 24
Dependent Claim
25 words
The method according to claim 21, wherein the error estimation includes a 3×3 matrix inversion to provide a solution of a 3 element error vector.
Claim 25
Dependent Claim
24 words
The method according to claim 20, wherein the determining step includes estimating the error in the estimated vehicle attitude using differential carrier phase measurements.
Claim 26
Dependent Claim
38 words
The method according to claim 20, wherein the determining step includes estimating the error in the estimated vehicle attitude using GPS measured positions of the at least three antennas using signals from the at least two space vehicles.
Claim 27
Independent Claim
126 words
A system for use in vehicle navigation, the system comprising: three or more GPS antenna/receiver sets associated with a vehicle; an inertial measurement unit for providing inertial measurements for the vehicle; and a processing unit, the processing unit including: GPS attitude determination means for generating attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles, the attitude computations including at least one of GPS absolute attitudes generated independent of the inertial measurements and GPS estimated attitude errors, and filter means for receiving as inputs thereto the inertial measurements and attitude computations, wherein the filter means generates estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.
Claim 28
Independent Claim
126 words
A system for use in vehicle navigation, the system comprising: three or more GPS antenna/receiver sets associated with a vehicle; an inertial measurement unit for providing inertial measurements for the vehicle; and a processing unit, the processing unit including: GPS attitude determination means for generating attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles, the attitude computations including at least one of GPS absolute attitudes generated independent of the inertial measurements and GPS estimated attitude errors, and filter means for receiving as inputs thereto the inertial measurements and attitude computations, wherein the filter means generates estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.
Claim 29
Dependent Claim
29 words
The system according to claim 25, wherein the filter means is initialized using a GPS absolute attitude from the GPS attitude determination means generated independent of the inertial measurements.
Claim 30
Dependent Claim
36 words
The system according to claim 25, wherein the filter means includes means for comparing an attitude generated using inertial measurements from the inertial measurement unit and a GPS absolute attitude to generate an estimated attitude error.
Claim 31
Dependent Claim
53 words
The system according to claim 25, wherein the GPS attitude determination means includes means for generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using inertial measurements from the inertial measurement unit.
Claim 32
Dependent Claim
49 words
The system according to claim 25, wherein the GPS attitude determination means includes means for generating a GPS estimated attitude error using the at least three antennas and signals from the at least two space vehicles in addition to an estimate of vehicle attitude computed using prior GPS measurements.
Claim 33
Dependent Claim
53 words
The system according to claim 25, wherein the GPS attitude determination means includes: means for providing an estimated vehicle attitude; and means for determining an error in the estimated vehicle attitude using the at least three antennas and signals from the at least two space vehicles resulting in a GPS estimated attitude error.
Claim 34
Dependent Claim
31 words
The system according to claim 30, wherein the GPS attitude determination means includes means for iteratively estimating the error in the estimated vehicle attitude to attain the GPS estimated attitude error.
Claim 35
Dependent Claim
28 words
The system according to claim 30, wherein the GPS attitude determination means includes means for estimating the error in the estimated vehicle attitude using differential carrier phase measurements.
Claim 36
Dependent Claim
42 words
The system according to claim 30, wherein the GPS attitude determination means includes means for estimating the error in the estimated vehicle attitude using GPS measured positions of the at least three antennas using signals from the at least two space vehicles.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-07-11 | 2004-01-10 | 2004-07-11 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-07-11 | 2008-01-10 | 2008-07-11 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-07-11 | 2012-01-10 | 2012-07-11 | $7700.00 | Window Closed / Lapsed |