公开(公告)号：US08471762B2

公开(公告)日：2013-06-25

申请号：US13413481

申请日：2012-03-06

Applicant: John M. Zietz ,  Robert M. Allen ,  Robert V. Weinmann

Inventor： John M. Zietz ,  Robert M. Allen ,  Robert V. Weinmann

IPC: G01S19/47

CPC classification number: G01S19/55 ,  G01C21/165 ,  G01S19/35

Abstract: A heading determination system comprises an inertial measurement unit (IMU) coupled with at least two GNSS receivers, each receiver paired with and receiving signals from a corresponding GNSS antenna, wherein the GNSS antennas are separated by an ultra-short baseline. The heading determination system receives signals broadcast by a plurality of GNSS satellites and calculates the phase difference in the signal seen among the separate GNSS antennas. Using this phase difference information, derived from comparing the signals received from a plurality of GNSS satellites, along with attitude data generated by the IMU, the heading determination system calculates a highly-accurate heading solution. A method is provided for determining a heading of a system including an IMU coupled with at least two GNSS receivers, with each receiver being paired with and receiving signals from a corresponding GNSS antenna and the antennas being separated by an ultra-short baseline.

Abstract translation: 航向确定系统包括与至少两个GNSS接收机耦合的惯性测量单元（IMU），每个接收机与相应GNSS天线配对并接收来自相应GNSS天线的信号，其中GNSS天线由超短基线隔开。 航向确定系统接收由多个GNSS卫星广播的信号，并计算在分离的GNSS天线之间看到的信号中的相位差。 使用通过比较从多个GNSS卫星接收的信号得到的相位差信息，以及由IMU生成的姿态数据，航向确定系统计算高准确的航向解决方案。 提供了一种用于确定包括与至少两个GNSS接收器耦合的IMU的系统的航向的方法，其中每个接收机与相应的GNSS天线配对并接收来自相应的GNSS天线的信号，并且所述天线被超短基线隔开。

公开(公告)号：US07961143B2

公开(公告)日：2011-06-14

申请号：US12119450

申请日：2008-05-12

Applicant: Liwen L. Dai ,  Daniel J. Eslinger ,  Richard T. Sharpe ,  Ronald R. Hatch

Inventor： Liwen L. Dai ,  Daniel J. Eslinger ,  Richard T. Sharpe ,  Ronald R. Hatch

IPC: G01S19/44

CPC classification number: G01S19/55

Abstract: A method for performing integer ambiguity resolution in a global navigation satellite system is disclosed. A set of ambiguities, which are associated with carrier phase measurements of at least some of the signals received from the satellites in an identified set of satellites, are identified. Integer ambiguities are estimated and a best candidate set and a second best candidate set of integer ambiguity values are determined. Upon determining that the best set of integer ambiguity values fail to meet a discrimination test, each ambiguity for which integer ambiguity values in the best candidate set and second best candidate set fail to meet predefined criteria are removed from the set of ambiguities to produce a reduced set of ambiguities. The integer ambiguities in the reduced set of ambiguities are then resolved and an output is generated in accordance with the resolved integer ambiguities.

Abstract translation: 公开了一种在全球导航卫星系统中执行整数模糊度分解的方法。 识别与识别的卫星组中的卫星接收的至少一些信号的载波相位测量相关联的一组模糊度。 估计整数模糊度，并确定最佳候选集和第二最佳候选集合的整数模糊度值。 在确定最佳集合的整数模糊度值不能满足鉴别测试时，最佳候选集合和第二最佳候选集合中的整数模糊度值不能满足预定标准的每个模糊度从该组模糊度中消除以产生缩减 一套模棱两可 然后解析缩小的模糊集合中的整数模糊度，并根据解析的整数模糊度生成输出。

公开(公告)号：US07869811B2

公开(公告)日：2011-01-11

申请号：US11743070

申请日：2007-05-01

Applicant: Lauri Wirola ,  Jari Syrjärinne

Inventor： Lauri Wirola ,  Jari Syrjärinne

IPC: H04W24/00

CPC classification number: G01S19/55

Abstract: For enhancing the quality of a relative positioning, a filter is adjusted depending on information on a movement of a satellite signal receiver. A position of the satellite signal receiver is determined relative to a reference station using the filter, wherein measurements on satellite signals received by the satellite signal receiver and measurements on satellite signals provided for the reference station are used as input to the filter. The measurements for the reference station may be received in messages which are assembled and provided for transmission and which may include in addition an indication of a current movement of the reference station.

Abstract translation: 为了提高相对定位的质量，根据关于卫星信号接收机的移动的信息来调整滤波器。 卫星信号接收机的位置是使用滤波器相对于参考站确定的，其中由卫星信号接收机接收的卫星信号上的测量和对参考站提供的卫星信号的测量被用作滤波器的输入。 参考站的测量可以被组合并提供用于传输的消息中接收，并且另外可以包括参考站的当前移动的指示。

公开(公告)号：US07388539B2

公开(公告)日：2008-06-17

申请号：US11253871

申请日：2005-10-19

Applicant: Michael L. Whitehead ,  Cary Davis

Inventor： Michael L. Whitehead ,  Cary Davis

IPC: G01S1/00

CPC classification number: G01S19/53 ,  G01S19/44 ,  G01S19/55

Abstract: A method and system for reducing Global Navigation Satellite System (GNSS) carrier tracking loop ambiguities comprising: receiving a plurality of GNSS satellite signals with a first antenna in operable communication with a first tracking device and a second antenna in communication with a second tracking device in at least one GNSS receiver; and sharing of data between the first tracking device and the second tracking device. The sharing is configured to facilitate a commonality in a carrier phase derived in the first and second tracking devices. The sharing also results in a cancellation of the commonality when a difference phase is formed between a carrier phase from the first tracking device and a carrier phase from the second tracking device.

Abstract translation: 一种用于减少全球导航卫星系统（GNSS）载波跟踪环路模糊度的方法和系统，包括：利用与第一跟踪装置可操作地通信的第一天线和与第二跟踪装置通信的第二天线来接收多个GNSS卫星信号， 至少一个GNSS接收机; 以及在第一跟踪设备和第二跟踪设备之间共享数据。 共享被配置为促进在第一和第二跟踪设备中导出的载波相位中的共性。 当在来自第一跟踪装置的载波相位和来自第二跟踪装置的载波相位之间形成差分相位时，共享也导致消除共通性。

公开(公告)号：US20070085738A1

公开(公告)日：2007-04-19

申请号：US11253871

申请日：2005-10-19

Applicant: Michael Whitehead ,  Cary Davis

Inventor： Michael Whitehead ,  Cary Davis

IPC: G01S5/14

CPC classification number: G01S19/53 ,  G01S19/44 ,  G01S19/55

Abstract: A method and system for reducing Global Navigation Satellite System (GNSS) carrier tracking loop ambiguities comprising: receiving a plurality of GNSS satellite signals with a first antenna in operable communication with a first tracking device and a second antenna in communication with a second tracking device in at least one GNSS receiver; and sharing of data between the first tracking device and the second tracking device. The sharing is configured to facilitate a commonality in a carrier phase derived in the first and second tracking devices. The sharing also results in a cancellation of the commonality when a difference phase is formed between a carrier phase from the first tracking device and a carrier phase from the second tracking device.

Abstract translation: 一种用于减少全球导航卫星系统（GNSS）载波跟踪环路模糊度的方法和系统，包括：利用与第一跟踪装置可操作地通信的第一天线和与第二跟踪装置通信的第二天线来接收多个GNSS卫星信号， 至少一个GNSS接收机; 以及在第一跟踪设备和第二跟踪设备之间共享数据。 共享被配置为促进在第一和第二跟踪设备中导出的载波相位中的共性。 当在来自第一跟踪装置的载波相位和来自第二跟踪装置的载波相位之间形成差分相位时，共享也导致消除共通性。

公开(公告)号：US20050143872A1

公开(公告)日：2005-06-30

申请号：US10501552

申请日：2003-01-15

Applicant: Alessandro Barazzetti

Inventor： Alessandro Barazzetti

IPC: G01S1/00 ,  G01S5/14 ,  G01S19/22 ,  G01S19/52 ,  G01S19/55 ,  G06F17/00

CPC classification number: G01S19/55 ,  G01S19/22 ,  G01S19/52

Abstract: The present invention refers to an instrumentation system of an aircraft by means of GPS (Global Positioning System). In particular, it refers to a modular instrumentation system for aircraft, preferably airplanes, based on the GPS, and to the relative method. In one embodiment the modular instrumentation system for aircraft comprises: four antennas (A1-A4) connected to four GPS receivers (GPS1-GPS4) that supply in output the attitude data and the angular velocities; a data acquisition card (S, C) that receives, memorizes and processes said attitude data and said angular velocities coming from said data acquisition card (S, C) and supplies data relating to the board instruments of an aircraft; visualization means (V) of said data relating to the board instruments.

Abstract translation: 本发明是通过GPS（全球定位系统）来指飞机的仪表系统。 特别地，它是指基于GPS的飞机，优选飞机的模块化仪表系统，以及相关方法。 在一个实施例中，用于飞行器的模块化仪表系统包括：四个天线（A 1 -A 4），其连接到四个GPS接收器（GPS 1-GPS 4），用于输出姿态数据和角速度; 数据采集​​卡（S，C），其接收，记录和处理来自所述数据采集卡（S，C）的所述姿态数据和所述角速度，并提供与飞机的板式仪器有关的数据; 所述数据的可视化装置（V）涉及板式仪表。

公开(公告)号：US20040145518A1

公开(公告)日：2004-07-29

申请号：US10758034

申请日：2004-01-16

Applicant: Furuno Electric Company Limited

Inventor： Hiroyuki Toda ,  Naomi Fujisawa ,  Masaru Fukuda

IPC: G01S005/14

CPC classification number: G01S19/55 ,  G01S19/36 ,  G01S19/44

Abstract: A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.

公开(公告)号：US20020116126A1

公开(公告)日：2002-08-22

申请号：US10006447

申请日：2001-11-20

Inventor： Ching-Fang Lin

IPC: G01C021/20

CPC classification number: G01S19/44 ,  G01C21/165 ,  G01S5/0247 ,  G01S11/02 ,  G01S13/58 ,  G01S13/86 ,  G01S15/58 ,  G01S17/58 ,  G01S19/26 ,  G01S19/32 ,  G01S19/47 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

Abstract: 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.

公开(公告)号：US06424914B1

公开(公告)日：2002-07-23

申请号：US09751549

申请日：2000-12-26

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G01C2126

CPC classification number: G01S19/26 ,  G01C21/165 ,  G01S19/28 ,  G01S19/44 ,  G01S19/55

Abstract: A fully-coupled vehicle positioning method and system with differential GPS substantially solves problems encountered in either the global positioning system-only or the inertial novigation system-only, such as loss of global positioning satellite signal, sensitivity to jamming and spoofing, and an inertial solution's drift over time, in which the velocity and acceleration from an inertial navigation processor of the integrated GPS/INS system are used to aid the code and carrier phase tracking of the global positioning system satellite signals, so as to enhance the performance of the global positioning and inertial integration system, even in heavy jamming and high dynamic environments. To improve the accuracy of the integrated GPS/INS navigation system, phase measurements are used and the idea of the differential GPS is employed. A master-slave relative positioning scheme is invented and is effective for high accuracy formation driving and flight.

Abstract translation: 具有差分GPS的全耦合车辆定位方法和系统基本上解决了仅在全球定位系统或惯性导航系统中遇到的问题，例如全球定位卫星信号的丢失，对干扰和欺骗的敏感性以及惯性 解决方案随时间的变化，其中使用来自集成GPS / INS系统的惯性导航处理器的速度和加速度来帮助全球定位系统卫星信号的码和载波相位跟踪，从而提高全球定位系统的性能 定位和惯性集成系统，即使在重型干扰和高动态环境下。 为了提高集成GPS / INS导航系统的精度，使用相位测量，并采用差分GPS的思想。 发明了一种主从相对定位方案，对于高精度地层驾驶和飞行有效。

公开(公告)号：US06259398B1

公开(公告)日：2001-07-10

申请号：US09574897

申请日：2000-05-19

Applicant: Wyatt Riley

Inventor： Wyatt Riley

IPC: H04B7185

CPC classification number: G01S19/55 ,  G01S19/44

Abstract: A method and system for performing integer ambiguity resolution for navigational positioning systems are described. A navigational positioning system includes a pair of receivers with antennas that simultaneously receive signals emitted from satellites or other moving or fixed sources. Potential solutions for the baseline vector between the antennas are determined. Test results are obtained for at least two tests performed on each potential solution. Examples of such tests include comparing a code double difference with each carrier phase double difference and comparing each potential solution with information known about the antennas. Each one of the potential solutions is evaluated as a candidate for a correct solution for the baseline vector. The evaluation of each potential solution is based on every test result obtained for that potential solution without disqualifying any one of the potential solutions as a candidate for the correct solution based on any one test result. A potential solution can therefore remain a candidate for the correct solution despite having produced what conventionally was considered a failing and disqualifying test result for a given test. A numerical or qualitative grade from a continuum of grades is assigned to each test result. The grades for a given potential solution are combined such that every assigned grade for that potential solution contributes to an overall grade that is used when searching for the correction solution from the plurality of potential solutions. Using the overall grades, various criteria can be used to select the correct solution from among the potential solutions.

Abstract translation: 描述了用于对导航定位系统执行整数模糊度分解的方法和系统。 导航定位系统包括一对具有同时接收从卫星或其他移动或固定源发射的信号的天线的接收机。 确定天线之间的基线矢量的潜在解决方案。 对每个潜在解决方案进行的至少两次测试获得测试结果。 这种测试的示例包括将代码双重差异与每个载波相位双差进行比较，并将每个潜在解与天线已知的信息进行比较。 每个潜在解决方案被评估为基线矢量的正确解决方案的候选者。 每个潜在解决方案的评估是基于为该潜在解决方案获得的每个测试结果，而不会将任何一个潜在的解决方案作为基于任何一个测试结果的正确解决方案的候选者。 因此，一个潜在的解决方案仍然是正确解决方案的候选者，尽管已经产生了传统上被认为是给定测试的失效和不合格的测试结果。 每个测试结果分配来自连续体等级的数字或定性等级。 组合给定潜在解决方案的等级，使得该潜在解决方案的每个分配等级有助于在从多个潜在解决方案中搜索校正解时使用的整体等级。 使用整体等级，可以使用各种标准从潜在的解决方案中选择正确的解决方案。