公开(公告)号：US09529093B2

公开(公告)日：2016-12-27

申请号：US14054396

申请日：2013-10-15

Applicant: Google Inc.

Inventor： Jonathan Nichols ,  James Brian Roseborough ,  Craig Lewin Robinson ,  Hamid Mokhtarzadeh

IPC: G01S19/54 ,  G01S19/53

CPC classification number: G01S19/54

Abstract: Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.

Abstract translation: 提供了使用双差分GPS载波相位测量来估计姿态的系统和方法。 示例性的计算机实现的方法包括由一个或多个计算设备获得初始候选姿态。 该方法包括由一个或多个计算设备基于初始候选姿态来确定多个预期的双差分载波相位值。 该方法包括通过一个或多个计算设备将多个预期的双差分载波相位值输入到成本函数中。 成本函数分别将多个预期双差分载波相位值与多个测量的双差分载波相位值相比较。 该方法包括通过一个或多个计算设备来最小化成本函数。 该方法包括由一个或多个计算设备选择与最小化成本函数相关联的最终候选姿势作为设备的姿态。

公开(公告)号：US20150168562A1

公开(公告)日：2015-06-18

申请号：US14054396

申请日：2013-10-15

Applicant: Google Inc.

Inventor： Jonathan Nichols ,  James Brian Roseborough ,  Craig Lewin Robinson ,  Hamid Mokhtarzadeh

IPC: G01S19/54

CPC classification number: G01S19/54

Abstract: Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.

Abstract translation: 提供了使用双差分GPS载波相位测量来估计姿态的系统和方法。 示例性的计算机实现的方法包括由一个或多个计算设备获得初始候选姿态。 该方法包括由一个或多个计算设备基于初始候选姿态来确定多个预期的双差分载波相位值。 该方法包括通过一个或多个计算设备将多个预期的双差分载波相位值输入到成本函数中。 成本函数分别将多个预期双差分载波相位值与多个测量的双差分载波相位值相比较。 该方法包括通过一个或多个计算设备来最小化成本函数。 该方法包括由一个或多个计算设备选择与最小化成本函数相关联的最终候选姿势作为设备的姿态。