公开(公告)号：US09880562B2

公开(公告)日：2018-01-30

申请号：US15169534

申请日：2016-05-31

Applicant: AgJunction LLC

Inventor： Mark R. Webber ,  Keith R. Jones ,  John A. McClure ,  Andre C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead

IPC: B62D11/00 ,  G05D1/02 ,  A01B69/00 ,  G01S19/14 ,  A01B79/00 ,  G01S19/04 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G01C21/16 ,  G01C25/00 ,  A01B69/04 ,  E01H4/00 ,  G01S19/13 ,  G05D1/08 ,  E01C19/00 ,  E02F9/20 ,  E02F9/26 ,  G01C21/20 ,  G01S19/24

CPC classification number: G05D1/0278 ,  A01B69/007 ,  A01B69/008 ,  A01B79/005 ,  E01C19/004 ,  E01H4/00 ,  E02F9/2029 ,  E02F9/2045 ,  E02F9/2054 ,  E02F9/264 ,  G01C21/165 ,  G01C21/20 ,  G01C25/005 ,  G01S19/04 ,  G01S19/13 ,  G01S19/14 ,  G01S19/24 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0287 ,  G05D1/0891 ,  G05D2201/02 ,  G05D2201/0201 ,  G05D2201/0202

Abstract: A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.

公开(公告)号：US09846243B2

公开(公告)日：2017-12-19

申请号：US14388806

申请日：2013-03-28

Applicant: AIRBUS DEFENCE AND SPACE SAS ,  CENTRE NATIONAL D'ETUDES SPATIALES CNES

Inventor： Renaud Broquet ,  Bernard Polle ,  Johan Montel

IPC: G01S19/55 ,  G01S3/46 ,  G01S19/54 ,  G01S3/48 ,  G01S19/53 ,  G01S5/06 ,  G01S5/02 ,  G01S19/22

CPC classification number: G01S19/55 ,  G01S3/46 ,  G01S3/48 ,  G01S5/0247 ,  G01S5/06 ,  G01S19/22 ,  G01S19/53 ,  G01S19/54

Abstract: A method for calibrating spatial errors induced by phase biases having a detrimental effect on the measurements of phase differences of radio signals received by three unaligned receiving antennas of a vehicle. An inter-satellite angular deviation of a pair of satellites is estimated in two different ways: on the basis of the respective positions of the vehicle and of the satellites to obtain a theoretical inter-satellite angular deviation; and on the basis of the respective directions of incidence of the satellites relative to the vehicle, which are determined from phase measurements, to obtain an estimated inter-satellite angular deviation. The space errors are estimated on the basis of said theoretical and estimated inter-satellite angular deviations. Also, a method and system for estimating the attitude of a vehicle, in particular a spacecraft.

公开(公告)号：US08818568B2

公开(公告)日：2014-08-26

申请号：US13185548

申请日：2011-07-19

Applicant: Donghyun Kim ,  Jason Bond

Inventor： Donghyun Kim ,  Jason Bond

IPC: G06F7/00

CPC classification number: G01S19/55 ,  B60W2550/402 ,  B66C13/48 ,  B66C19/007 ,  G01S19/04 ,  G01S19/05

Abstract: Methods, systems, and machine-interpretable coding for causing a processor of a vehicle controller installed in a vehicle such as a rubber-tired gantry (RTG) to generate, using known position associated with a base station and signals received from a Global Navigation Satellite System (GNSS) receiver located at the base station, a satellite observation error estimate; generate, using the satellite observation error estimate and a position of vehicle determined using signals received from a GNSS receiver mounted on the vehicle, at least one control signal representing a navigation command executable by at least one control device of the vehicle; and to output the control signal for execution by the control device. Generation of control signals can include use of synchronous and asynchronous processing, ambiguity resolution processes, and as fuzzy logic and PID and other control feedback loops.

Abstract translation: 方法，系统和机器可解释编码，用于使安装在诸如橡胶轮架（RTG）的车辆中的车辆控制器的处理器使用与基站相关联的已知位置和从全球导航卫星 位于基站的系统（GNSS）接收机，卫星观测误差估计; 使用所述卫星观测误差估计和使用从安装在所述车辆上的GNSS接收器接收的信号确定的车辆的位置生成表示可由所述车辆的至少一个控制装置执行的导航命令的至少一个控制信号; 并输出控制信号以供控制装置执行。 控制信号的产生可以包括使用同步和异步处理，歧义解析过程，以及模糊逻辑和PID等控制反馈回路。

公开(公告)号：US20120174445A1

公开(公告)日：2012-07-12

申请号：US13426395

申请日：2012-03-21

Applicant: Keith R. Jones ,  John A. McClure ,  Andrè C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead

Inventor： Keith R. Jones ,  John A. McClure ,  Andrè C. Roberge ,  Walter J. Feller ,  Michael L. Whitehead

IPC: E01H4/00 ,  G05D1/02 ,  G01C21/00 ,  G05D3/12

CPC classification number: A01B69/007 ,  A01B69/004 ,  A01B79/005 ,  G01S19/04 ,  G01S19/14 ,  G01S19/41 ,  G01S19/44 ,  G01S19/53 ,  G01S19/55 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other, and snow grooming equipment and method applications.

Abstract translation: 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和侧倾角度而移动时由天线的运动产生的横向运动引起的位置误差。 替代方面包括用于高动态滚动补偿的多天线GNSS指导方法，使用单频（L1）接收机的实时运动学（RTK），天线之间的固定和移动基线，多位置GNSS尾部指导（“面包屑跟踪” ）用于交叉错误校正，引导多个车辆和相对于彼此的设备，以及雪地修理设备和方法应用。

公开(公告)号：US06879875B1

公开(公告)日：2005-04-12

申请号：US10946598

申请日：2004-09-20

Applicant: Guohui Hu ,  Ching-Fang Lin

Inventor： Guohui Hu ,  Ching-Fang Lin

IPC: G01C21/16 ,  G01C21/26 ,  G01C21/28 ,  G01C21/34 ,  G01C21/36 ,  G01S1/00 ,  G01S5/14 ,  G01S19/44 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

CPC classification number: G01C21/165 ,  G01S19/44 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

Abstract: The design of the low cost GPS/IMU positioning and data integrating method, which employs integrated global positioning system/inertial measurement unit enhanced with dual antenna GPS carrier phase measurements to initialize and stabilize the azimuth of the low cost GPS/IMU integrated system, is performed. The utilization of the raw carrier phase measurement for the integration speeds up the ambiguity search.

Abstract translation: 低成本GPS / IMU定位和数据集成方法的设计采用综合全球定位系统/惯性测量单元，采用双天线GPS载波相位测量，初始化和稳定低成本GPS / IMU集成系统的方位角，是 执行。 利用原始载波相位测量进行集成可加快模糊搜索。

公开(公告)号：US06792380B2

公开(公告)日：2004-09-14

申请号：US10356614

申请日：2003-02-03

Applicant: Hiroyuki Toda

Inventor： Hiroyuki Toda

IPC: G01C1700

CPC classification number: G01S19/55

Abstract: An attitude angle detecting apparatus receives radio waves transmitted from a plurality of position-fixing satellites with multiple antennas located at specific positions of a mobile unit, determines relative positions of the antennas and detects the heading and attitude of the mobile unit by determining carrier phase ambiguities quickly and accurately. When it is needed to redetermine integer ambiguities after recovery from an interruption of the radio waves from the position-fixing satellites or as a result of a change in combination of the position-fixing satellites, for example, the attitude angle detecting apparatus redetermines the integer ambiguities by using attitude angles and an attitude angle error covariance obtained from previous observation. This enables the attitude angle detecting apparatus to uninterruptedly obtain information on the heading and attitude of the mobile unit.

Abstract translation: 姿态角检测装置接收从位于移动单元的特定位置的多个位置固定卫星发送的无线电波，确定天线的相对位置，并通过确定载波相位模糊度来检测移动单元的航向和姿态 快速准确地 当需要在从位置固定卫星的无线电波的中断恢复之后重新确定整数模糊度时，或者由于位置固定卫星的组合改变的结果，例如姿态角检测装置重新确定整数 通过使用姿态角度和由先前观察获得的姿态角误差协方差的模糊度。 这使得姿态角检测装置不间断地获得关于移动单元的航向和姿态的信息。

公开(公告)号：US06720913B1

公开(公告)日：2004-04-13

申请号：US10290992

申请日：2002-11-08

Applicant: Brian W. Schipper

Inventor： Brian W. Schipper

IPC: G01S502

CPC classification number: G01S19/55

Abstract: A method for detecting lock slip using inertial information is provided. The method involves an epoch comparison of a predicted delta phase range with a measured delta phase range. The predicted delta phase range is calculated by subtracting a previous inertial solution from a current inertial solution. The measured delta phase range is calculated by subtracting a previous carrier phase measurement from a current carrier phase measurement. If a difference between the predicted delta phase range and the measured delta phase range is greater than a threshold amount, a lock slip is declared. The method allows for lock slip detection in Global Positioning System (GPS) attitude determinations without relying on a lock slip notification from the GPS.

Abstract translation: 提供了一种使用惯性信息检测锁定滑移的方法。 该方法涉及预测的δ相位范围与测量的Δ相位范围的时代比较。 通过从当前惯性解减去先前的惯性解来计算预测的δ相位范围。 通过从当前载波相位测量中减去先前的载波相位测量来计算所测量的Δ相位范围。 如果预测的δ相位范围和测量的Δ相位范围之间的差异大于阈值量，则声明锁定滑移。 该方法允许在全球定位系统（GPS）姿态确定中进行锁定滑移检测，而不依赖于GPS的锁定通知。

公开(公告)号：US06611228B2

公开(公告)日：2003-08-26

申请号：US09910850

申请日：2001-07-24

Applicant: Hiroyuki Toda ,  Sadao Sato ,  Masaru Fukuda ,  Kaoru Nakayama

Inventor： Hiroyuki Toda ,  Sadao Sato ,  Masaru Fukuda ,  Kaoru Nakayama

IPC: G01S502

CPC classification number: G01S19/55 ,  G01S19/49

Abstract: A carrier phase-based relative positioning apparatus comprises a plurality of antennas of which at least one is installed on a mobile unit. The apparatus determines the position of each antenna other than one antenna used as a reference antenna relative to the reference antenna by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single difference phase or a double difference phase, and calculating an integer ambiguity of the single difference phase or the double difference phase. The apparatus judges that the integer ambiguity has been incorrectly determined if the position of any of the antennas relative to the reference antenna (or the angle of a flat plane formed by those two antennas) falls out of a preset range in which the relative position (the angle of the flat plane) falls under normal conditions.

公开(公告)号：US06516272B2

公开(公告)日：2003-02-04

申请号：US10006447

申请日：2001-11-20

Applicant: Ching-Fang Lin

Inventor： Ching-Fang Lin

IPC: G06F1750

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：US20020180641A1

公开(公告)日：2002-12-05

申请号：US09867993

申请日：2001-05-24

Inventor： Patrick W. Fink ,  Justin A. Dobbins

IPC: G01S003/02 ,  G01S005/14

CPC classification number: G01S19/36 ,  G01S19/42 ,  G01S19/43 ,  G01S19/55 ,  H01Q21/06

Abstract: System and methods are disclosed for employing one or more radiators having non-unique phase centers mounted to a body with respect to a plurality of transmitters to determine location characteristics of the body such as the position and/or attitude of the body. The one or more radiators may consist of a single, continuous element or of two or more discrete radiation elements whose received signals are combined. In a preferred embodiment, the location characteristics are determined using carrier phase measurements whereby phase center information may be determined or estimated. A distributed antenna having a wide angle view may be mounted to a moveable body in accord with the present invention. The distributed antenna may be utilized for maintaining signal contact with multiple spaced apart transmitters, such as a GPS constellation, as the body rotates without the need for RF switches to thereby provide continuous attitude and position determination of the body.

Abstract translation: 公开了用于采用具有相对于多个发射器安装到主体的非唯一相位中心的一个或多个散热器来确定身体的位置特性（诸如身体的位置和/或姿态）的系统和方法。 一个或多个辐射器可以由单个连续元件或其接收信号组合的两个或更多个离散辐射元件组成。 在优选实施例中，使用载波相位测量来确定位置特性，从而可以确定或估计相位中心信息。 根据本发明，具有广角视角的分布式天线可以安装到可移动体。 当身体旋转时，分布式天线可用于保持与多个间隔开的发射器（例如GPS星座）的信号接触，而不需要RF开关，从而提供身体的持续姿态和位置确定。