TW536637B - Improved positioning and data integrating method and system thereof - Google Patents

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.

Description

536637

V. Description of the invention (1) Relevant patent applications: This application is a division of the provisional application. Its application number is 09 / 764,776. The application date is January 23, 2001. It is also an official application. The application number is: 6 0/2 5 7, 5 1 6 and the application date is February 23, 2000. Description of the invention Field of the invention

The present invention is a general positioning and data integration method and system, and more specifically, an improved positioning and data integration method and system for individual handheld applications, such as air, ground, and water carriers. This method uses GPS / inertial measurement components with optional other navigation equipment to obtain the position, velocity, attitude, acceleration, and rotation information of the carrier, and assigns this information to other subsystems, for example, Flight management system, flight control system, automatic related surveillance system, cockpit display system, enhanced ground proximity warning system, aerial imaging radar, and satellite communication system.

Description of related methods There are some difficult problems in individual handheld applications and various vehicle positioning and data integration methods and system designs, as well as aircraft avionics. Commercial aircraft avionics systems, such as multiple radars, navigation systems,

Page 5 ^ 36637 V. Description of the invention (2) The flight management system and cockpit display system have become more and more complicated. Each system has proprietary controls that require the attention of the pilot, especially during a crisis flight. What's more, this task is complicated when the pilot's possibilities for proprietary control are limited by cockpit space. The flight management system (F MS) includes flight navigation management, flight planning, and integrated track generator and guidance law. The FMS of the aircraft cooperates with the measurement system and the onboard inertial reference system to control the aircraft to fly along the track, detour from the track, and end the flight and approach operations. Today's advanced aircraft are equipped with flight management computers for calculating tracks and a combined control system that allows the aircraft to fly along those tracks, thereby minimizing direct operating costs. The guidance function is performed by the FMS. In some applications, cruise control rules and automatic tracking control rules (especially 4D control and roll) are also included in the FMS. In this way, they are closely coupled with the guiding law. During the approach and landing phases, F M S obtains the optimal position of the aircraft through tracking calculations. Because lateral errors and relative position offsets are sensitive to guidance accuracy, precise guidance and control are required. Therefore, the accuracy of the guidance function in F MS largely determines the aircraft's approach and landing performance and other important tasks. However, important handling functions that consider operations and faults should be included in the automatic flight control system (FCS), not in the FMS, because functions like the high-pass band inner loop are usually handled by the automatic flight control system (FCS). Therefore, people always want to avoid combining these functions in FMS, even if they can be solved by independent processors in FMS. Assume that the fast control loop is 100 Hz and the slow control loop is 50 Hz. Select 5 ◦ as the main frame to update the main frame in 20 milliseconds. The sensor input is

536637 V. Description of the invention (3) 2 0 0 Hz. If it is selected as the secondary frame, the secondary frame is 5 milliseconds. Other 50 Hz subsystems have guidance commands, FCS data input, FCS data output, and actuation servo commands. In each main frame, the sensor input is updated four times and the fast control loop is calculated twice. Slow control loop, guidance command, FCS data input, F C S data output, and actuating servo command are updated once. The increasing complexity of flight management systems and flight control systems, as well as other avionics systems, requires the integrated design of avionics systems, or integrated avionics systems. For example, it is expected that a new generation of civil aircraft will use integrated modular electronic systems as an integral part of the structure of these aircraft electronic systems. The integrated module electronics system family enables integrated electronics to share functions such as processing, input / output, memory, and power generation. Instead of a cathode ray tube (CRT), advanced features such as a flat-screen display will be added to the flight deck of the new generation of civil aircraft, which will display flight, navigation and engine information. The development of inertial devices, displays, and ultra-large-scale ultra-high-speed integrated circuit technology has made it possible to design a navigation system for civil aircraft using an all-digital inertial reference system (I n e r t i a 1 R e f e r c e System, IRS). The IRS interfaces with a typical transport flight management system. The main output of this system is linear acceleration, angular rate, pitch and roll attitude, and northeast ground speed data, which are used as input to the transport flight control system. The inertial navigation system consists of an inertial measurement component, a processor, and an embedded navigation software. By applying the carrier specific force and rotation rate measurements obtained from the inertial device on board, the Newton equation of motion is solved digitally to obtain the position solution. The onboard inertial device consists of an accelerometer and a gyroscope,

536637 V. Description of the invention (4) The related hardware and electronic circuit constitute the inertial measurement component. The inertial navigation system can be realized by a frame-type or strap-down mechanical structure. In the frame-type inertial navigation system, the accelerometer and gyroscope are mounted on a stand _ platform, the sensor is isolated from the rotation of the carrier, and the measurement and navigation calculations are maintained in a stable navigation coordinate system. Possible navigation coordinate systems include the Earth-Central Inertial System (ECI), the Earth-Central Earth System (ECEF), the local horizontal North East Territory (NED) system, and the local horizontal migration azimuth system. In the strapdown inertial navigation system, the inertial sensor is rigidly mounted on the carrier system, and a coordinate conversion matrix (analysis platform) is used to transform the acceleration and rotation measurements expressed on the carrier system to the navigation system, in a stable navigation The system makes navigation calculations. The frame type is more accurate and easier to calibrate than the strapdown inertial navigation system. The strapdown inertial navigation system can be used under high dynamic conditions, such as high-speed rotating maneuvers, which affects the performance of the inertial sensor. However, due to low cost and reliability, with the advent of new gyroscopes and accelerometers, strapdown inertial navigation systems are becoming the dominant mechanical orchestration. In principle, by initializing the starting position and an alignment, the inertial navigation system allows purely autonomous operation and outputs continuous carrier position, speed and attitude data. In addition to autonomous operation, other advantages of inertial navigation systems include complete navigation solutions and wide passbands. However, inertial navigation systems are costly and drift over time. This means that the position error increases over time. This error propagation characteristic is mainly caused by its inertial sensor error sources, such as gyro drift, accelerometer bias, and scale factor errors. In the previous patent application, the invention of the aircraft avionics system positioning ® and the innovative method and system design of data integration was invented as the method and system of π carrier navigation and positioning and data integration. Its application number is:

Page 8 536637 V. Description of the invention (5) 09 / 374,480, the application date is August 13, 1999. Although the previous patent can be applied to land, air and water carriers, the previous patents for land and water carriers and specific embedding methods for handheld devices are provided here. SUMMARY OF THE INVENTION The main object of the present invention is to provide an improved carrier positioning and data integration method and system. The method and system use a control board to manage and distribute navigation data and inertial sensor data to air, land and water carriers Subsystem.

Another object of the present invention is to provide an improved method and system for positioning and data integration of handheld applications, in which a control panel manages and distributes navigation data and inertial sensor data to a display device and a wireless communication device. Yet another object of the present invention is to provide an improved method and system for positioning and data integration of air, land and water carriers, in which one, more or all of the following equipments: an altitude measuring device, a north compass, a speed sensor, a terrain The database and target detection system interface is coordinated with the global positioning system / inertial measurement component integrated navigation system to enhance the position solution and control performance to adapt to various applications.

Yet another object of the present invention is to provide a general method and system for carrier positioning and data integration in the air. In this method and system, the flight management system obtains a position from a global positioning system / inertial measurement component integrated navigation system assisted by an altitude measurement unit. , Speed, attitude, and time for flight management.

Page 9 536637 V. Description of the invention (6) It is another object of the present invention to provide a universal carrier positioning and data integration method and system in the air. The method and system of the flight control system are assisted by an altitude measurement unit worldwide. The positioning system / inertial measurement component integrated navigation system obtains the attitude and speed of the carrier, acceleration and rotation data of the carrier for flight control. Yet another object of the present invention is to provide a general method and system for carrier positioning and data integration in the air. The automatic correlation monitoring system in the method and system is obtained from a GPS / inertial measurement component integrated navigation system assisted by an altitude measurement unit Carrier position and time data to report carrier position. Yet another object of the present invention is to provide a universal air carrier positioning and data integration method and system. The cockpit display system in the method and system is obtained from a global positioning system / inertial measurement component integrated navigation system assisted by an altitude measurement unit. Carrier position, attitude, heading, speed and time data to display navigation information. Yet another object of the present invention is to provide a universal air carrier positioning and data integration method and system. The method and system of the enhanced ground cumulative alarm system are assisted by a global positioning system / inertial measurement component integrated navigation assisted by an altitude measurement unit. The system obtains carrier position, speed, and heading time data to query terrain data and predict transportation routes. Yet another object of the present invention is to provide a universal air carrier positioning and data integration method and system, in which the aerial imaging radar obtains a platform from a global positioning system / inertial measurement component integrated navigation system assisted by an altitude measurement unit. Attitude and carrier acceleration data to stabilize aerial radar

Page 10 536637 V. Description of the invention (7) line. Another object of the present invention is to provide a data integration method and system. The integrated navigation system assisted by the altitude measurement unit obtains the carrier position and the satellite. Through the application of the latest inertial measurement unit assisted global positioning system, as well as the integration of advanced buses and avionics systems encountered in modern avionics system design and reliability, small size, light protection, and easy modification . Description of drawing number: 11-Flight management system 1 3-Automatic related surveillance system 1 5-Data bus 17-Enhanced ground proximity report: 1 8-Aerographic radar 2 0-Inertial measurement unit 3 1-Barometer 3 3-Air Data sensor 3 5-Target detection system for a universal air carrier positioning method and system Satellite communication system from the ball positioning system / inertial measurement component group attitude data to point the communication antenna at the guard, GPS technology, altitude system / The inertial measurement component integrated navigation arithmetic technology can fundamentally solve the problem of the present invention. The present invention balances the requirements of multiple fabrications .. Low cost, high precision, low power consumption, easy operation and maintenance. 1 2-Flight control system 14-Universal navigation and control box 1 6-Cockpit display system system 1 9-Satellite communication system 3 0-Altitude measurement device 32-Radar altimeter 3 4-Terrain database 3 6-Wireless communication equipment

Page 11 536637 V. Description of the invention (8) 3 7-Display device 4 3-Inverter 4 5-Signal processor 5 0 _ Central navigation and control processing 51-Common memory card 5 3-Control board 5 5-Common bus 6 1-Analog signal interface 6 3-Pulse signal interface 70-Altitude interface and processing board 72-Radar altimeter interface 8 1-INS processor 8 3-Kalman chirp 9 3-Air data interface and processing 9 4-Target Detection system interface and 451-Q Doppler frequency removal 4 5 2-Correlator 454-Microprocessor 4 5 6-Encoder 6 1 1-Multi-channel low-pass filter 6 1 3-Timing circuit 621-RS -4 8 5 Interface circuit 6 3 1-Add / subtract pulse separation circuit 6 3 3-Bus interface circuit 4 0-GPS processor 44-IF sampling and A / D converter 46-Oscillator circuit device 5 2-Bus ruling 5 4-bus interface 60-IMU interface and processing board 6 2-serial signal interface 6 4-parallel digital signal interface 7 1-barometer interface 80_ navigation processing board 8 2-carrier phase phase fuzzy solution module 9 0- Processing Board Board Processing Board Device 4 5 3-Accumulator 4 5 5-Carrier Digital Control Oscillator 4 5 7-Code Digital Control Oscillator 612-Multi-channel AD conversion circuit 614-DMA interface 6 2 2 -Interrupt circuit 632_Multi-channel frequency-digital circuit 6 3 4-Interrupt circuit

Page 12 536637 V. Description of the invention (9) 642- Interrupt circuit 712-A / D conversion circuit 714-DMA interface 7 2 2-Terrain database 8 1 2-Coordinate transformation calculation module module 8 2 1-Geometric distance calculation module rate Calculation module 823-Satellite clock model 8 2 5-Tropospheric model 8 2 7-Search space determination module 8 3 2-Covariance propagation module 834-Variance update module 8 3 6-State vector prediction module 8 3 8-Calculation of measurement residuals Module 3 2 0 1-RF speed sensor 3203-Laser speed sensor 3 3 0 2-Detector 3 5 0 2-Sensor 6 4 1-Bus interface circuit 7 1 1-Low-pass filter 7 1 3-Timing circuit 7 2 1-Data fusion module 8 1 1-IMU error compensation module 8 1 3-Attitude position speed calculation 8 1 4-Transformation matrix calculation module 815-Earth and carrier rotation speed 8 2 2-Least square adjustment module 824-Ionospheric model 8 2 6-Satellite prediction module 8 3 1-Residual monitoring module 8 3 3-Calculation of optimal gain module 8 3 5-Preprocessing module 8 3 7-GPS error compensation module 8 3 9-Update state vector module 3 2 0 2 -Sound speed sensor 3204-Odometer interface 3 5 0 1 -Image 350 3-Designing a detailed description of a preferred data link scheme The present invention provides an improved universal positioning and data integration method and system, which uses a control board as a carrier for air, land, and water carriers.

Page 13 536637 V. Description of the Invention (ίο) The system manages and distributes navigation data and inertial sensor data. The method and system of the present invention can be applied to handheld applications. It uses a control panel to manage and distribute navigation data and inertial sensor data for display devices and wireless communication devices. The method and system of the present invention are applied to a global positioning system / inertial measurement component integrated navigation system 'one, more, or all of the following devices: a degree measurement 1 device, a north compass, a speed sensor, a terrain database, and a target detection system interface Coordinates with the global positioning system / inertial measurement component integrated navigation system to enhance the position solution and control performance to adapt to various applications. Generally speaking, the improvement of the accuracy of the Inertial Navugation System (INS) can be compensated by using high-precision inertial devices or using external data. The cost of developing and manufacturing inertial devices increases as accuracy levels increase. New inertial sensor technology and advances in electronic technology have made low-cost inertial sensors available, such as microelectromechanical (MEMS) inertial sensors. Microelectromechanical system inertial sensors use semiconductor processes to make tiny sensors and actuators on silicon wafers. These new inertial sensors may not be as accurate as traditional sensors, but they are far superior to traditional inertial sensors in terms of cost, volume, weight, thermal stability, and wide dynamic range. The present invention uses a combined global positioning system / inertial measurement component coupled with a height measurement unit to provide continuous high-precision carrier positioning, high-precision attitude determination, platform body acceleration and rotation data, and time data output. This data is managed and distributed by a dashboard. The invention has many advantages compared with traditional systems, such as the application of the invention

536637 V. Description of the invention (11) The advantages of the air carrier include: 1. The inertial navigation navigation system has the short-term high-precision positioning capability, but it is affected by long-term drift, resulting in poor long-term navigation solutions. GPS has long-term high-precision navigation performance. The combination of these two independent systems is expected to achieve highly accurate long-term and short-term navigation solutions. 2. Combine the GPS inertial measurement unit with an altitude measurement unit, such as a barometric altimeter or radar altimeter, to improve vertical positioning accuracy. 3. The speed and acceleration obtained from the inertial measurement component are fed back to the GPS processor to assist the carrier phase and code tracking of GPS satellites, and are used to improve the performance of GPS and inertial navigation systems. In a highly dynamic environment. 4. The high-precision navigation solution from the combined GPS / inertial measurement unit coupled with the height measurement unit is used to assist the GPS carrier phase fuzzy solution. In this way, the carrier phase data from the GPS processor can be mixed in a Kalman filter to further improve the navigation solution. 5. The gyro and accelerometer provide the basic body rotation and acceleration data required by the flight control system. This data is distributed to the flight control system along with platform speed and attitude information. In this way, the flight control system does not require additional gyroscopes and accelerometers. 6. The onboard flight management system directly obtains the carrier position, speed, attitude, and time data from the control panel of the universal navigation and control box, so it does not require additional navigation assistance.

Page 15 536637 V. Description of the invention (12) 7 · The on-board automatic related monitoring system obtains the carrier position and time data directly from the control panel of the universal navigation and control box, so it does not require additional navigation assistance and clock. 8. The universal navigation and control box provides carrier position, speed, and attitude data, and assigns these data to the enhanced ground proximity alarm system to improve its function and performance. In this way, the on-board enhanced ground proximity alert system does not require additional navigation assistance to provide carrier position, speed, and attitude information. 0 9 · The universal carrier navigation and control box uses acceleration data obtained from the I μ U accelerometer assembly. Along with the platform attitude information, it is assigned to the aerial radar. This data is used to stabilize the radar antenna system, thus eliminating the need for additional accelerometers and attitude sensors. 1 0 · The control board of the universal carrier navigation and control box assigns the platform position and attitude to the satellite communication system. This data is used to point the communication system antenna at the communication satellite, thus eliminating the need for additional pointing systems and attitude sensors. As shown in the first figure, the universal navigation and control box 14 is connected to the data bus 15. The data bus 15 is a standard bus, such as the M I L 1 5 5 3 B bus, the A R I N C 4 2 9 bus, and the A R I N C 6 2 9 bus. Flight management system 1 1, flight control system 12, automatic related surveillance system 1 3, cockpit display system 16, enhanced ground proximity warning system 17, aerial imaging radar 18, and satellite communication system 9 are also connected to Data bus 1 5. The data bus 15 is responsible for the universal navigation and control box 丨 4 and the flight management system 1 1, the flight control system 12, the automatic related monitoring system 1 3, the cockpit display system 16, the enhanced ground proximity warning system 17, the aerial image radar 18, data transmission between satellite communication systems 19.

Page 16 536637 V. Description of the invention ^ 13) ^ --- ~-As shown in the second figure, the universal guide 20 'height measurement device 30, full $ connection and central navigation and control device 50 0 connection to the data Bus 1 5. The navigation and control box 14 includes an inertial measurement system processor 40, which is a processor 50. The central navigation and control processing is not shown in the third figure. The central navigation and control processor 50 includes 1M connection :: work board 60 'height interface and processing board 70, navigation processing board 80, and public card ^ Card 51 The bus arbiter 52 and the control board 53 are connected to each other through a common line 5 5. The central navigation and control processor 50 further includes a bus interface 54 to provide a connection between the control board 53 and the data bus 15. w as the first, second, third, fourth, fifth, fifth_eighth, sixth-A, seventh, eighth, ninth, tenth, eleventh The twelfth, thirteenth, thirteenth, sixteenth, seventeenth, and eighteenth drawings' show the first preferred implementation solution of the present invention, which includes the following steps: 1 · Perform GPS processing and reception GPS measurements include pseudorange, carrier phase, Doppler shift, and time from the GPS processor 40. They are sent to the navigation processing board 80 of the central navigation and control processor 50. 2 · Receive inertial measurements from the inertial measurement module 20, including the angular rate and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMlJ interface and the processing board 60, and send them to the public bus 5 5 The navigation processing board 80 and the control board 53. 3. Receive the altitude measurement from the altitude measuring device 3.0, convert it to digital mean sea level (MSL) altitude using the altitude interface and processing board 70, and send them to the navigation processing board 8 through the common bus 5 5 0 and

Page 17 536637 V. Description of the invention (14) Control board 5 3. 4. I N S processing with I N S processor of inertial navigation system. 5. Mix INS processor 81 output, height measurement, and GPS measurement in Kalman filter 83. 6 · The feedback Kalman filter 8 3 is output to the I N S processor 8 1 to modify the INS navigation solution. 7. The speed and acceleration data are injected from the INS processor 81 into the signal processor 45 of the global positioning system processor 40, which is used to assist the GPS signal code and carrier phase tracking. 8. Output the signal processor 45 of the global positioning system processor 40, the output of the INS processor 81, the output of the Kalman filter 83, and inject the carrier phase adjustment fuzzy solution module 8 2 to determine the GPS satellite signal. Carrier phase integer fuzzy number. 9. The carrier phase phase ambiguity resolution module 8 2 outputs the carrier phase phase correction number to the Kalman filter 83 to further improve the positioning accuracy. 1 0. The navigation data: platform speed, position, altitude, heading, and time are output from the INS processor 8 1 to the control board 5 3 through the common bus 5 5. 1 1. Send platform speed, position, attitude, heading and time data to the flight management system 1 1. 12. Send platform speed, attitude, body acceleration and rotation data to the flight control system. 1 3. Send the platform position and time data to the automatic related monitoring system 1 3. 1 4. Send platform speed, position, and attitude data to the enhanced ground proximity alarm system.

536637 V. Description of the invention (15) 15 · Send platform attitude and body acceleration data to the air image radar 18. 1 6 · Send platform position and attitude data to satellite communication system 9. In step 1, the GPS satellite sends a coarse acquisition code (C / A) and an accurate code (p) in the L1 band at high frequency (Radio Frequency, RF): A ⑴ = ⑴C0S (^ V ten few) ten⑺ sin ( 〇v Ten less) GPS satellites send accurate codes at high frequencies in the L2 band? ··

Sl2 (t) = ^ 2P ^ P (t) D (t) cos (〇) 2r + φ2) In the formula, ω 1 is L 1 carrier angular frequency, 0 is small phase noise and oscillator drift component, and Pe is C / A signal power, pp is p signal power, D (t) is navigation data, CA (t) is C / A code, P (t) is P code, is L2 carrier angular frequency, P2 is L2-P signal power, 02 is small phase noise and oscillator drift components. In step 1, as shown in the fifth figure-A, the high-frequency signals received on the global positioning system antenna 41 are: ^ /! (0 = Λ / 2Ρ ^ 〇Α (ί-τ) 〇 ( ϊ) cos [(a), + ω,) t + 0)] + A / 2P ^ P (i) D (〇sin [(〇) l +) r + ^) 1 ~ ⑺-τ) Z) ⑴ cos [(〇) 2 十 ω,) ί + 02)] In the formula, τ is the code delay and the Doppler angle frequency. In step 1, as shown in the fifth figure-A, the received GPSRF signal is amplified by a preamplifier circuit 42. The amplified GPSRF signal is sent to the full

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Page 19 536637 V. Description of the invention (16) The high-frequency signal from the inverter 43 of the ball positioning system processor 40 to the intermediate frequency IF signal. The IF signal is processed by the IF sampling converter 44 to convert the IF signal into the orthogonal component of the signal envelope. In the u sampling and A / D converter 44, the IF signal as an analog signal is first filtered by a low-pass filter, and then sampled, and finally the analog signal is converted into a digital signal A / D. The digital signal is turned into a signal processor 45 to extract and adjust navigation data generated in the GPS signal, such as GPS satellite ephemeris, atmospheric parameters, satellite clock parameters, and time information. The signal processor 45 also processes the digital data from the [F-sampling and A / D converter 44 to estimate the pseudorange, carrier phase, and Doppler shift. In GPS processor 40, the oscillator circuit

46 provides a clock signal for the down converter 43'IF sampling and a / d converter 44, and the signal processor 45. As in the fifth figure-A, in step 1, the signal processor 45 outputs the G P S measurement 'including the pseudorange, the carrier phase, and the Doppler frequency shift to the navigation processing board 80. In step 7, the signal processor 45 receives the speed and acceleration information from the navigation processing board 80 to perform external speed-acceleration assistance code and carrier phase ^ tracking.

As shown in Figure 6-A, in step 1, the pseudo-range measurement is obtained from the GPS code tracking loop. The GPS code tracking loop includes a correlator 4 5 2, an accumulator 4 5 3, a microprocessor 454, a code numerically controlled oscillator (NC0) 457, and an encoder 456. The Doppler shift and carrier phase measurements are obtained from the satellite signal carrier phase tracking loop. The carrier phase tracking loop includes a Doppler frequency shift remover 4 5 1, a correlator 4 5 2, an accumulator 4 5 3, a microprocessor 4 5 4, and a carrier digitally controlled oscillator (NC0) 4 5 5.

Page 20 536637 V. Description of the invention (17) As shown in Figure 6-A 'In step 1, the digital data I and Q from the IF sampling and AD converter 44 are processed by Doppler frequency shift remover 451, Remove the Doppler shift modulated on the GPS signal. The carrier and longitudinal loop use Doppler shift remover 451 to track the phase and frequency of the incoming signal. Doppler frequency removal is accomplished by a digital implementation of a single sideband modulator. The 9-wave digital control oscillator (NC0) 455 accumulates phase at its clock speed based on the input frequency. Every time when the accumulator overflows, a new cycle is generated. It does this by using time as a cycle. The carrier digitally controlled oscillator NC 05 4 is driven by a clock from the oscillator circuit 46 and a frequency increment from the microprocessor 454. The carrier digitally controlled oscillation 1NC045 5 outputs the IQ quadrature component of the reference phase (and Qref). The reference phase is output to the Doppler divider 451. ^ As shown in Figures and Figures, in step 1, the GPS signal removed by the Doppler frequency shift is sent to the JM gate 4 5 2 for relevant processing. The accumulator 4 5 3 then correlates, and 4σ5 2 ′ θ performs correlation processing after completion, and filters the correlation quantities 1 2 and Q2 before processing by the microprocessor. The accumulation process is a single accumulation of correlation samples at T seconds t. Here T is usually a period of 1 millisecond of a CA code. = Add result 1 3 and Q 3 are collected and stored by microprocessor 4 5 4. The accumulator 4 5 3 is vacated to generate an accumulation-vacation filtering of the signal components. As shown in the sixth A, in step 1, the source and source code used in the correlator 4 5 2 and the source 4 5 6 are used. The encoder 4 5 6 is driven by a clock from the oscillator 4 6 and an incremental delay from the microprocessor 4 5 4. The encoder 4 5 6 is responsible for the C / A code and P code generation. Accumulator 4 5 3 is driven by a clock generated by code N C 0 4 5 7. Code 0457 is driven by the oscillator 46 and the microprocessor 454. Code NC0457 also drives

536637

Encoder 4 5 6. 〇 As shown in the sixth figure-A, in step 7, the microprocessor 454 receives the data from the accumulator 453, and the speed and acceleration data and ° data from the navigation processing board 80, which is used to perform the loop filtering sampling processing and lock. Detection, data recovery, and / or processing. This operating mode is called speed-acceleration assisted carrier phase and code tracking. In step 1, the microprocessor 454 outputs GPS measurements, including pseudorange, carrier phase, Doppler frequency shift, and time information to the navigation processing board 80. As shown in Figure 6-A, in step 1, in the signal processor signal tracking loop, when the GPS tracking error is greater than the signal tracking loop tracking bandwidth, the GPS satellite signal is lost. The tracking loop out-of-lock state is mainly caused by the low SNR and Doppler frequency shift of the received satellite signal. The former may be caused by input noise or blocking. The latter, Doppler shift, is caused by the high-speed motion of the carrier. Generally speaking, the increase of the bandwidth of the tracking loop can improve the tracking capability of the phase-locked loop under high dynamics, but at the same time, the anti-interference of the GPS receiver = the force is deteriorated, because it is more unnecessary to allow the voice signal to be numbered. Tracking ring. The modified inertial navigation INS solution is used to assist the GPS number / ^ 1. Obtain a maximum between the GPS tracking loop bandwidth and the anti-blocking capability. As shown in Figure 6-A, in step 7, the modified inertial navigation speed / short enough information to assist the GPSPLL loop is to quickly read accurately (T) Estimate the carrier phase of the intermediate frequency signal 0 I (t) on the near estimation period 1 Likely expressed by the following formula = θ / 0 + ω / 0ί + γ / (/ 2 + 5 / 〇, 3 ten ...

Page 22 536637 V. Description of the invention (19) Such a problem becomes to estimate the parameters of the above formula. Velocity-acceleration information describing the dynamic characteristics of the flying body is converted into the line-of-sight LOS velocity acceleration information. Therefore, the estimation of the carrier phase of the intermediate frequency signal can be expressed by the following LOS speed-acceleration formula: g ⑴v, + /? 2al, 2 + V, 3 +…

Where (bp b2, b3) are constants related to the carrier frequency and the speed of light, given by

VL0S, AL0S, and aL (3S correspond to the speed, acceleration, and jerk along the LOS between the satellite and the receiver. Therefore, the tracking and anti-interference ability of the auxiliary PLL loop depends heavily on the estimation accuracy of VLQS and ALQS. VLQS and ALQS It is calculated from the velocity and acceleration information from the INS processor 81 and then incorporated into the loop filter of the microprocessor 4 5 4.

As in the sixth figure-A, in step 1, the code tracking loop of the signal processor 45 tracks the code phase of the incoming direct sequence spread spectrum signal. The code tracking loop provides an estimate of the time offset required for correlation between the received signal and the internally generated time code. Microprocessor 4 5 4 uses time delay information to calculate initial

Page 23 536637 V. Description of the invention (20) Distance estimation between carrier satellites, that is, pseudorange. In step 7, the speed and acceleration information from the navigation processing board 80 is converted into LOS speed and acceleration (VLQS and ALQS) for accurate estimation of the code delay. In this way, the dynamic performance and anti-blocking ability are improved. The IMU interface and the pre-processing board 60 include an analog signal interface 61, a serial signal interface 62, a pulse signal interface 63, and a parallel digital signal interface 64, and are installed between the inertial measurement module 20 and the common bus 55. They are used to convert the I MU signal obtained from the inertial measurement unit 20 into digital data of body acceleration and rotation, and then send the converted digital data to the navigation processing board 80 and the control board 53 through the common bus 55.

In many applications, the output of I M U is an analog signal, especially a low-precision IMU, which is often used to form a combined system with a GPS receiver. As shown in the seventh figure, the analog signal interface 61 is a multi-channel A / D conversion circuit board for converting analog I MU signals into digital data. It includes a multi-channel low-pass filter 611 connected to the inertial measurement module 20, a multi-channel AD conversion circuit 612 connected between the multi-channel low-pass filter 611 and the common bus 55, and a DMA interface connected to the common bus 55. 614. The analog interface 61 further includes a timing circuit 613, which is connected to the multi-channel AD conversion circuit 612 and the title 々P a bow ft ^ u 1 4: ⑽Λ FIG. Λ, in step 2, I from the inertial measurement component 20 ΜΙΜ5 旒 is added by a multi-channel low-pass filter 6 丨]

The signal is sent to a multi-channel A / D conversion circuit 612. =; 11 A / D conversion circuits 612 in the rear factory provide the first circuit: 1: for the Xitong sampled and digitally converted analog IMU cars are more "" conversion circuit 612, poly number. Timing circuit 613 also triggers

536637 V. Description of the invention (21) DMA interface 614. After the multi-channel A / D conversion circuit 612 is sampled and digitized, the DMA interface 614 notifies the navigation processing board 80 and the control board 53 through the common bus 55, and fetches the IMU data on the common bus 55. After the navigation processing board 80 and the control board 53 receive the DMA signals, the multi-channel A / D conversion circuit 612 outputs the digitized I M U data to the common bus 55. Because many IMU manufacturers tend to embed a high-performance microprocessor in the IMU to form the so-called intelligent IMU, the IMU output signal is sent by the microprocessor through a standard serial bus, such as RS-4 2 2/4 8 5, MIL-STD- 1 5 5 3 B, etc., as shown in the eighth figure. The serial signal interface 62 is a multi-channel RS-485 communication control circuit board to receive serial I M U data. It includes an RS-4 8 5 interface circuit 621 connected between the inertial measurement module 20 and the common bus 55, and an interrupt circuit 6 2 1 connected between the RS-4 8 5 interface circuit 6 2 1 and the common bus 55. As shown in the eighth figure, in step 2, the RS-485 interface circuit 621 receives a serial IMU signal from the inertial measurement unit 20. Once the receiving operation is completed, the 485 interface circuit notifies the interrupt circuit 622. The interrupt circuit 622 then informs the navigation processing board 80 and the control board 53 that the IMU data is ready via the common bus 55. After the navigation processing board 80 and the control board 53 receive the interrupt signal from the interrupt circuit 622, the RS-48 5 interface circuit 621 outputs the IMU data to the common bus 55. The navigation processing board 80 and the control board 53 obtain the IMU data of the body angular velocity and the angular velocity from the common bus 55. & Due to the fact that many high-performance gyroscopes and angular velocity meters provide pulse output, laser gyroscopes (RLG) and fiber-optic gyroscopes (FOG) are essentially digital sensors.

536637 V. Description of Invention (22). As shown in the ninth figure, the pulse signal interface 63 is a multi-channel frequency-digital converter, and the circuit board 63 is used to receive the pulse IMU signal. It includes an addition / subtraction pulse separation circuit 6 3 1 connected to the inertia measurement module 20, a bus interface circuit 6 3 3 and an interrupt circuit 634 connected to the common bus 55, respectively. The multi-channel frequency-to-digital conversion circuit board 63 further includes a multi-channel frequency-to-digital circuit 632 connected between the addition / subtraction pulse separation circuit 63 1 and the bus interface circuit 6 3 3. As shown in the ninth figure, in step 2, from the inertial measurement component 2 0, the pulse signal Mu is sent to the multi-channel frequency-digital circuit 6 3 2 'by adding + subtracting the pulse separation circuit 6 3 i, and here adding and subtracting pulses. The separation circuit 631 adjusts the pulsed IMU signal. . The multi-channel frequency-digital circuit 632 converts the pulsed IMU signal into a digital signal. Once the conversion is completed, the digital MU signal is sent to the bus interface circuit 6 3 3. The bus interface circuit 6 3 3 converts the digital IMU signal into digital data compatible with the public bus and sends it to the public bus 5 5. The bus interface circuit 633 triggers the interrupt circuit 634 to generate an interrupt signal. The interrupt signal notifies the navigation processing board 80 and the control board 53 that the IMU data on the common bus 55 is ready. Some IMUs have embedded logic circuits or microprocessors that can output parallel digital signals and even implement a standard parallel bus. As shown in the tenth figure, the parallel digital signal interface 64 includes a bus interface circuit 641 connected between the inertial measurement module 20 and the common bus 55, and an interrupt connected between the bus interface circuit 64 ^ and the common bus 55. Circuit 6 4 2. As shown in the tenth figure ', in step 2, the bus interface circuit 6 41 receives the parallel I M U signal from the inertial measurement unit 20 and converts it into data compatible with the common bus. After receiving the parallel I M U data, the bus interface circuit 6 41 triggers the interrupt circuit 64 2 and generates an interrupt signal for notifying the pilot & navigation department from the common bus 55

Page 26 536637 V. Description of the invention (23) IMU data is ready for the management board 80 and control board 53. The bus interface circuit 6 41 turns out the IMU data to the common bus 55 ′. The navigation processing board 80 and the control board 53 receive I M U data from the common bus 55. According to the possible I MU output signal types ’, we have designed different types of signal conversion boards to generate digital data for the body ’s acceleration and rotation. These signal conversion boards are designed as a series of optional modules' to cover different original signal outputs. In this design, the entire universal carrier navigation and control box is reconfigurable.

As we all know, GPS has poor vertical accuracy. The long-term accuracy of the combined solution of GPS and inertial system mainly depends on the performance of GPS. This means that global positioning and inertial integrated navigation systems cannot improve vertical positioning performance. In the present invention, this disadvantage is improved by incorporating a height measuring device. There are many different altimeter devices, such as barometer 31 and radar altimeter 32. The altitude interface and processing board 70 includes a barometer interface 71 and a radar altimeter interface 72. They are used to convert barometer 31 and radar altimeter 3 2 measurements to digital mean sea level (MSL) altitude data for the platform.

Many aircraft are equipped with barometric measurement devices that provide the aircraft's mean sea level (M SL) altitude. As shown in the eleventh figure, the air pressure measuring device interface 71 is a multi-channel A / D conversion circuit board for converting analog height information into digital data. It includes a low-pass filter 7 1 1 connected to the barometer 3 1, an A / D conversion circuit 712 ′ connected between the low-pass filter 7 1 1 and the common bus 55 5, and an DMA interface 714. The barometric pressure measuring device interface 71 further includes an interface between the A / D conversion circuit 712 and the DMA interface 714.

Page 27 536637 timing circuit 7 1 3. As shown in the eleventh figure, in step 3, the analog = degree ^ from the barometer 31 is filtered by the low-pass filter 71 1. The filtered analog height signal is sent to the f / D conversion circuit 712 by the stomach. The timing circuit 713 provides a sampling frequency to the A / D conversion circuit 71 2 ». The A / D conversion circuit 712 samples and digitizes the filtered nuclear pseudo-south < signal. The timing circuit 713 also triggers the sampling and digitization operation of the 〇IO interface 714 〇A / D conversion circuit 712. The DMA interface notifies the navigation processing board 80 and the control board 53 through the common bus 55, and takes the height data on the common bus 55. After the navigation processing board 80 and the control board 53 receive the DMA signal, the A / D conversion circuit 7 1 2 outputs the digitized height data to the common bus 55.

Many aircraft are also equipped with radar altimeters, which provide the altitude of the aircraft relative to the ground. The altitude produced by the radar southmeter is called terrain altitude. As shown in the twelfth figure, the radar southerly interface 72 includes a data fusion module κι connected between the radar altimeter 32 and the common bus 55, and a terrain database connected between the data fusion module 721 and the common bus 55. 7 2 2. The terrain database 7 2 2 receives the position information from the navigation processing board 80 through the common bus 55. Based on the position at that time, the database finds the terrain average sea level MS [height] and outputs it to the data fusion module 721. The data fusion module 721 combines the terrain height from the radar altimeter 32 and the terrain height from the terrain database 722 to generate the altitude of the aircraft at the mean sea level MSL.

According to the first preferred embodiment of the present invention, the thirteenth figure shows the navigation processing board 80. In the figure, the measurements from the inertial measurement unit 20, the signal processor 45 of the GPS processor 40, and the height measurement device 30 are mixed ^

Page 28 536637 V. Description of the invention (25) Derive high-precision navigation information, including 3D position, 3D velocity, and 3D attitude. These data are output from the I NS processor 8 1 and transmitted to the control board 5 3 through the common bus 5 5. As mentioned above, the speed and acceleration information is also fed back to the signal processor 45 of the GPS processor 40 to assist the GPS satellite signal code and carrier phase tracking. As shown in the thirteenth figure, in step 2, the I M U measurements from the IMU interface and the processing board 60, that is, the angular velocity and acceleration of the carrier, are received by the I NS processor 81 for inertial navigation processing. As shown in the fourth figure, in step 2, the I M U measurements from the IMU interface and the processing board 60, that is, the angular velocity and acceleration of the carrier, are sent to the control board 53 through the common bus 5 5. As shown in the thirteenth figure, in step 3, the height measurement from the height interface and the processing board 70 is received by the Kalman filter 83 for the combined filtering process. As shown in the fourth figure, in step 3, the height measurement from the height interface and the processing board 70 is sent to the control board 53 through the common bus 55. As shown in the thirteenth figure, in step 5, the microprocessor 4 5 of the GPS processor 40 outputs pseudorange, Doppler shift, GPS satellite ephemeris, and atmospheric data to Kalman. Filter 8 3. Kalman filter 83 integrates the data from INS processor 81, height interface and processing board 70, carrier phase ambiguity resolution module 4 2 and microprocessor 454 of GPS processor 40 to derive position error and speed Error, and attitude error. In step 4, the INS processor 81 handles the inertial measurements, that is, the angular velocity and acceleration of the body, and the position error, speed error from the Kalman filter 83.

536637 V. Description of the invention (26) Difference and attitude error to derive the modified navigation solution. The navigation solution includes three-dimensional position, three-dimensional velocity, and three-dimensional attitude. These data are output to the Kalman filter 8 3. On the other hand, in step X, these data are sent to the control board 53 through the public bus 55. As shown in the sixteenth figure, the INS processor 81 includes an IMU error compensation module 8 1 1, a coordinate transformation calculation module 8 1 2, an attitude position velocity calculation module 8 1 3, a transformation matrix calculation module 8 1 4, and the earth and the carrier. Rotation rate calculation module 81 5. As shown in the sixteenth figure, in step 4, the IMU error compensation module 811 klMU interface and the pre-processing board 60 receive the carrier angular velocity and acceleration data. These data are affected by inertial sensor measurement errors. The I M U error compensation module 8 1 1 receives the sensor error estimates obtained from the Kalman filter 8 3 to perform I M U error correction on the digital I M U data. The corrected inertial data is sent to the coordinate transformation calculation module 8 12 and the transformation matrix calculation module 8 丨 4, wherein the carrier angular velocity is sent to the transformation matrix calculation module 8 1 4 and the acceleration is sent to the coordinate transformation calculation module 812. & As shown in the sixteenth figure, in step 4, the transformation matrix calculation module 8 丄 4 receives the carrier angular velocity from the IMU error compensation module 811, and receives the earth and carrier rotation rate from the earth and carrier rotation rate calculation module 8 1 5. Used to perform transformation matrix calculations. The transformation matrix calculation module 814 sends the calculated data to the coordinate transformation calculation module 8 1 2 and the attitude position velocity calculation building. The attitude update algorithm in the transformation matrix calculation module 8 14 adopts the quaternion method because of its superior digital calculation and stability characteristics. The relative quaternion differential equation between the body and the current coordinate system is:

Page 30 536637 V. Description of the invention (27) where qT = Cq ° Q1 q2 q3] is a quaternion vector with quaternion parameter, and month is the antisymmetric matrix of vector ωώ. ⑴i is sensed by the gyro, and is the angular velocity vector of the carrier system B relative to the inertial system I 0 -0-0h. X-Q) by-| [^ J = 0 ζ 〇 ～~ d①by ， ~] T 5-° hx 0 Ωη is the antisymmetric matrix of the vector ωω [: is a local navigation student: the angular velocity vector of the standard system N relative to the inertial system I is represented in the navigation coordinate system 0 • 0-1-C0-/ 〇, [Ωη] = 0 ωη7 --ωην ηζ 0 η > j ωί 0 If the navigation coordinate system is defined as the local horizontal North East coordinate system, then

+ Meaning) cos L

-L

-(ω (, + A) sin L

Page 31 536637 V. Description of the invention (28). The block mode is calculated, and the scale is changed again. The change scale is set to £. JI is the correct L step rate. The ground map is the tenth e 3 as the standard of the Chinese formula and the force ratio. Sit back. Change the system to change the standard. Sit on the 81-line display block into the table mode to replace the matrix with the compensation. The variation matrix is changed from the wrong to the MU transformation. I change from _ 4 to send 11 to ΟΟ 2 to receive block 81. Moment change mode change position posture attitude change to change mode calculation tt degree set posture pose 4 steps in 〇 3 show 81 block diagram six calculations ten counts for the first time as 丄 一 ^ 一 1 × speed 8 set 2 1 ± 8 block calculations for block and degree-speed acceleration and transformation, tt change the standard to receive the block table model ball: calculate the moment of the formation matrix. Set the posture with a new degree of change, and use the FC-like point I with the changed square pilot to approximate the ground or surface V (r) = α-(2ω ,, + 〇 ^ JxV-χχr Where a and V are the acceleration and velocity of the carrier relative to the earth in the navigation coordinate system, Oie is the earth's rotation vector, 6Jen is the angular velocity of the navigation coordinate system relative to the earth, and r is the position vector of the carrier relative to the center of the earth. Because the accelerometer cannot distinguish The acceleration of the carrier and the gravitational force, and the specific force detected by the accelerometer are: ί 二 ag (r)

Page 32 * tt

536637 V. Description of the invention (29) where g (r) is the sum of the gravity and centrifugal force of the earth at the position of the carrier. So V (〇 = /-(2 ^ + 〇) ^) xi / + g (r)

coe cosL 'AcosL where ω: two 0 -〇) e sin L, ωη = 5 tn -ί one AsinL

The carrier speed is updated according to the following formula: In the MV formula, it is the cosine array in the direction from the aircraft system to the navigation system, and " v /, 广 = 'Λ / fby " 0' 0

0 — (2cog + λ) sin L L

(2coe + λ) sin L 0 (2〇) e + A) cosL -L-(2 ^ -hA) cosL 0

Page 33 536637 V. Description of the invention (30) Applying the standard gravity formula to the WGS-84 ellipsoid can obtain the following expression:

Sd = <? 〇 [1-2 (ΐ4-/ + / 7ζ) ~ + (~ / 7ζ ~ /) 5ίη2 ^ a 2 {m-Qla2bIGM) where is the gravity on the equator and f is an ellipsoid Rate, h is the height, a is the half-length value, b is the short-term half value, and GM is the earth's gravity constant.

The differential equation for geographic latitude L, longitude, and height h, location update is:

Rka + h λ:

(Rn + h) cosL where rm is the radius of curvature of the meridian and rn is the radius of curvature of the ring.

As shown in the sixteenth figure, in step 4, after the position velocity calculation, the position velocity error calculated by the Kalman filter 83 in the attitude position velocity calculation module 8 1 3 is used to correct the inertial solution. There are two methods for attitude correction. The first method is to send the calculated attitude error from the Kalman filter 8 3 to the attitude position and speed calculation module 8 1 3, and perform attitude correction in the attitude position and speed calculation module 8 1 3. The second method is to send the calculated attitude error by the Kalman filter 8 3 to the transformation matrix calculation module 8 1 4 and perform the attitude correction before the attitude position speed calculation module 8 1 3.

Page 34 536637 V. Description of the invention (31) As shown in the sixteenth figure, in step 5, the modified inertial solution obtained from the attitude position velocity calculation module 8 1 3 is sent to the Kalman filter 8 3 for The measured values constituting the Kalman chirper 83 As shown in the thirteenth figure, in step 8, the modified inertial solution is also sent to the carrier phase ambiguity resolution module 82, which is used to assist the GPS carrier phase ambiguity determination. As shown in the thirteenth figure, in step 7, the corrected speed and acceleration are sent to the microprocessor 4 54 of the global positioning system processor 40 to assist the GPS satellite signal carrier phase and code tracking. As shown in the sixteenth figure, in step 10, the attitude position and speed information is sent to the control board 53 through the common bus 55.

As shown in the sixteenth figure, in step 4, the attitude position velocity calculation module 8 1 3 obtains the attitude position and velocity and sends it to the earth and carrier rotation rate calculation module 8 1 5 to calculate the earth velocity and the carrier rotation rate. The calculated earth and carrier rotation rates are sent to the transformation matrix calculation module 8 1 4. It is well known that Kalman filters use fully defined statistical properties to produce optimal estimates. The estimates are unbiased and have the smallest variance in the family of linear unbiased estimates. However, the estimated performance is only guaranteed if the assumptions of the mathematical model are valid. Any bias in the model may invalidate the filtering results and the conclusions based on them.

In the general vehicle navigation and control board, another mode of Kalman filter position and attitude solution is the robust Kalman filter. This robust Kalman filter is stable enough to operate in multiple environments. If the dynamic model changes suddenly or the sensor fails, such as GPS satellite signal failure, inertial sensor signal failure, the filter must be detected, corrected and isolated

Page 35 536637 V. Description of the invention (32) Failure situation. The robust Kalman filter has the characteristic of providing near-optimal characteristics over a large set of processing and measurement models. A pure Kalman filter is not robust because it is optimal only on a specific processing and measurement model. If the filter is incorrect, the reported accuracy of the filter covariance will be different from the actual achievable accuracy. The purpose of the filter confidence is to ensure that the performance prediction from the error covariance is close to the actual estimated error statistics. In addition, filter divergence is usually caused by process, model changes, or sensor failure. The present invention adopts a residual monitoring method to obtain a robust Kalman filter for mixing GPS data, inertial sensor measurements, and height measurements from height measurement devices. When appropriate redundancy is available, residual monitoring methods can effectively detect soft and hard faults and filter divergence. An advantage of the residual monitoring method is that when the filter model is correct, the statistical distribution of the residual sequence is known. Therefore, a distribution test on residual measurements can be used to generate measurement editing and divergence detection methods. The same statistical method can be used to evaluate filter tuning and adjust the covariance when divergence is detected. Figure 17 shows the implementation of a robust Kalman wavelet with residual monitoring. As shown in the seventeenth figure, in step 5, the GPS error compensation module 8 3 7 obtains the GPS raw measurements from the global positioning system processor 40, including the pseudorange, the carrier phase, and the Doppler frequency, and updates the state vector module 8 3 9 Obtain position and speed correction for GPS error compensation. The compensated raw data is sent to the pre-processing module 8 3 5.

536637

V. Description of the invention (33) As shown in the seventeenth figure, in the “Precision 5, the pre-processing module—receiving the altitude measurement from the altitude interface and the processing board 30” receives the GSP satellite ephemeris from the GPS processor 40. Receive the modified GPS raw data 'including pseudo-range' carrier phase and Doppler frequency from the GPS error compensation module 83 ', and receive the INS navigation solution from the INS processor 81. The preprocessing module 8 3 5 calculates the state transition matrix and sends it and the previous state vector to the state vector prediction module 8 3 6. The calculated state transition matrix is also sent to the covariance propagation module 8 3 2. The pre-processing module 8 3 5 calculates the measurement matrix and the current measurement vector based on the calculated measurement matrix and measurement model. The measurement matrix and the calculated current measurement vector are passed to the calculated measurement residual module 8 3 8. As shown in the seventeenth figure, in step 5, the state vector prediction module 8 3 6 receives the state transition matrix and the previous state vector from the pre-processing module 8 3 5 to perform the state prediction of the current cycle. The predicted current state vector is sent to the calculated measurement residual module 8 3 8. As shown in the seventeenth figure, in step 5, the measurement residual module 8 3 8 receives the predicted current state vector from the state vector prediction module 8 3 6 'receives the measurement matrix and the current measurement vector from the preprocessing module 8 3 5 . Calculate measurement residuals Module 8 3 8 calculates the measurement residuals by subtracting the product of the measurement matrix and the predicted current state vector from the current measurement vector. The measurement residuals are sent to a residual monitoring module 831 and an update state vector module 8 3 9. As shown in the seventeenth figure, in step 5, the residual monitoring module 831 discriminates the measurement residuals received from the calculated measurement residual module 8 3 8. The discrimination rule is to see if the square of the measurement residual divided by the variance of the residual is greater than a given threshold. If the square of the measurement residual divided by the variance of the residual is greater than this gives

Page 37 536637 V. Description of the Invention (34)-Certain Threshold value 'The current measurement may cause the Kalman filter to diverge. If it happens, the residual monitoring module 8 31 calculates a new system process variance 'and rejects the current measurement. If the square of the measurement residual divided by the variance of the residual is less than this given threshold, the Kalman filter uses the current measurement to obtain the current navigation solution without changing the current system process variance. The system process variance is sent to the covariance propagation module 8 3 2. As shown in the seventeenth figure, in step 5, the covariance propagation module 8 3 2 receives the system process variance from the residual monitoring module 8 3 1, the state transition matrix from the pre-processing module 8 35, and the former An estimated error variance used to calculate the current variance of the estimated error. The current variance of the calculated estimation error is sent to the calculation optimal gain module 8 3 3. As shown in the seventeenth figure, in step 5, the calculation optimal gain module 833 receives the current variance of the estimation error from the covariance calculation module 8 3 2 to calculate the optimal gain. This optimal gain is passed to the variance update module 8 3 4 and the update state vector module 8 3 9. The variance update module 8 3 4 updates the variance of the estimation error and sends it to the covariance propagation module 8 3 2. As in the seventeenth diagram, in step 5, the update state vector module 8 3 9 receives the optimal gain from the calculation optimal gain module 8 3 3 and receives the measurement residual from the calculation measurement residual module 8 3 8. The updated state vector module 8 3 9 calculates the current estimates of the state vector, including position, velocity, and attitude errors, and sends them to the GPS error compensation module 8 37 and the INS processor 81. It is well known that using carrier phase measurements can achieve higher GPS positioning accuracy than using only pseudorange measurements. This is because on the GPS satellite li broadcasting frequency 157542MHZ, a carrier period is only 19 cm, compared to

536637 V. Description of the invention (35), one cycle of the CA code is about 300 meters. The high accuracy of GPS carrier phase measurement and positioning is based on the prerequisite of phase ambiguity solution. The phase-specific ambiguity depends on both the GPS receiver and the satellite. Under the ideal assumption of no carrier phase tracking error and known true position of the receiver and satellite, the phase ambiguity can be solved instantly by a simple mathematical calculation. However, there are actually satellite ephemeris errors, satellite clock offsets, atmospheric propagation delays, multipath effects, receiver clock errors, and receiver ranging noise from the GPS code tracking loop. We can only obtain inaccurate slave receivers. The geometric distance from the aircraft to the satellite is called code pseudorange. The advantage of I M U auxiliary phase fuzzy solution and periodic slip detection is that the precise carrier coordinates and velocity from the modified INS solution can be used to assist in determining the initial blur and search range. In addition, the NS auxiliary signal tracking improves the receiver's ability to maintain GPS satellite signals, thereby reducing the possibility of signal loss or periodic slippage. As shown in the thirteenth figure, in step 8, the carrier phase reshaping module 82 receives the position and velocity data from the INS processor 81, and receives the carrier from the microprocessor 4 5 4 of the GPS processor 40. Phase and Doppler frequency shift measurements. The covariance matrix is received from the Kalman filter 8 3 to determine the integer fuzzy number of the GPS satellite signal. After the carrier phase ambiguity is determined, the carrier phase integer ambiguity number is sent to the Kalman filter 8 3 in step 9 to further improve the measurement accuracy of the GPS raw data. As shown in the eighteenth figure, the IMU-assisted GPS signal carrier phase adjustment fuzzy solution module 8 2 includes a geometric distance calculation module 8 2 1, a least squares adjustment module 8 2 2, a satellite clock model 8 2 3, and an ionosphere. model

Page 39 536637 V. Description of the invention (36) 8 2 4; tropospheric model 8 2 5; satellite prediction module 8 2 6; and search space determination module 8 2 7. A basic feature of GPS satellite signal carrier phase ambiguity is that as long as the tracking remains uninterrupted, there is no time dependence. The carrier phase measurement can be interpreted.

λ Λ AA where Φ is the measured carrier phase and signal wavelength, P is the true geometric distance between the receiver and the satellite, f is the signal frequency, △ 5 = 5 S-5R is the clock error, and 5s is the satellite Clock offset, h is the receiver error. N is the carrier phase integer blur, deph is the distance error caused by ephemeris error, di_ is the propagation error caused by the ionosphere, dt_ is the propagation error caused by the troposphere, and ε is the phase noise. When dual frequencies are available (using the L 1 and L 2 dual-frequency GPS receivers), dual-frequency carrier phase measurements can be used to eliminate almost all ionospheric errors, which are the main sources of ranging errors. Furthermore, the I M U-assisted carrier phase ambiguity solution is also used for wide-channel signals formed between dual-frequency carrier phase measurements. The wide channel signal can be expressed as: Φνν where is the carrier phase measurement of the L1 channel and the carrier phase measurement of the L2 channel. The corresponding wide-channel frequency and phase ambiguities are:

f, v two fL, fLl, Nw two NN

Page 40 536637 V. Explanation of the invention (37) The problem of solving the carrier phase ambiguity is further complicated, because it is necessary to determine the ambiguity every time when the satellite loses lock (this phenomenon is called periodic sliding). Cyclic slip must be detected and repaired to maintain a high-precision navigation solution. There are three reasons for periodic slippage. First, periodic sliding is caused by the occlusion of satellite signals, such as trees, buildings, bridges, and mountain peaks. The second cycle sliding source is a low signal-to-noise ratio S N R, caused by harsh ionospheric conditions, multipath, high receiver dynamics, or low satellite altitude. The third source is the receiver oscillator. In the present invention, I M U assist is also used for the detection and repair of periodic slip. As shown in Figure 18, in step 8, the satellite prediction module 8 2 6 receives the ephemeris of the visible GPS satellites from the global positioning system processor 40. The predicted satellite position is transmitted to the geometric distance calculation module 8 2 1. The geometric distance calculation module 821 receives the precise position information of the carrier from the INS processor 81. Based on the position information of the satellite and the carrier, the geometric distance calculation module 8 2 1 calculates the geometric distance between the satellite and the carrier, which is different from the pseudo-range derived from the 40-position tracking loop of the GPS processor. The solved geometric distance is sent to the least squares adjustment module 8 2 2. As shown in Figure 18, in step 8, the troposphere model 8 2 5 receives the time stamp from the GPS processor 8 2 6 and calculates the delay of the GPS satellite signal using the embedded tropospheric lag model. The calculated tropospheric lag is sent to the least squares adjustment module 8 2 2.

Page 41 536637 V. Description of the invention (38) The ionospheric hysteresis of the ionospheric parameter model of the cloth treated by the eighteenth niche system is calculated by the eighteenth global positioning system. The satellite clock such as the eighteenth Kalman filter array's search space system satellite carrier space is sent to the eighteenth as the geometric distance from the geometric distance meter, collects 1 clock correction from module 8 2 4 and uses 822 also from search 3 The multiplication adjustment algorithm uses phase ambiguity. As shown in the third diagram and the data bus 15 and the fourth diagram, in step 8, the arrester 40 receives the time stamp and the ionization number. Using the ionospheric data and the = satellite system satellite block 8 24 to calculate the negative time delay from the ionospheric bow & entry ionospheric hysteresis mode. Calculate the mt-multiplication adjustment module 822. As shown in the figure, in step 8, the satellite clock parameters of the mother pepper are received by the & hygienic clock model 823 and the correction is also sent to the most clock correction plan. The receiver 83 receives the measurement vector search space determination module 827 and the determination module 8 2 7 derives the measurement moment; V, the moment of variance; phase adjustment fuzzy search space / lane; ′ 疋 global positioning; least squares adjustment module 8 2 2. Sine wave phase integer fuzzy search] :: 821 in: I ·, the least squares adjustment module 8 2 2 carrier to the GPS satellite r ^ 5 to collect tropospheric hysteresis, from ionosphere: ion, lag 'from satellite clock model 8 2 3 When collecting satellites: Get the starting point for the initial search. Least squares adjustment module [Interval determination module 8 2 7 receives the search space. The standard least square is the starting point of the search and the search space to determine the carrier. As shown in the figure, the bus interface 5 5 provides an interface between the universal carrier navigation and the control box. As shown in the first figure and the third ^ 'in step 11 through the bus interface 54 and the data bus

Page 42 536637 V. Description of the invention (39) 1 5 Send the platform position, speed, attitude, heading, and time data to the flight management system 1 1. As shown in the first, third, and fourth figures, in step 12, the control board 5 3 sends the platform speed, attitude, body acceleration, and rotation to the flight control system 12 through the bus interface 54 and the data bus 15. data. As shown in the first diagram, the third diagram, and the fourth diagram, in step 13, the control board 53 sends the platform position and time data to the automatic related monitoring system 13 through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 13, the control board 53 sends the platform position and time data to the automatic related monitoring system 13 through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 13, the control board 5 3 sends the platform position and time data to the automatic related monitoring system 1 3 through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 14, the control board 53 sends the platform position, speed, and speed to the enhanced ground proximity alarm system 17 via the bus interface 54 and the data bus 15. Posture data. As shown in the first diagram, the third diagram, and the fourth diagram, in step 15, the control board 53 sends the platform attitude and the body acceleration data to the aerial imaging radar through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 16, the control board 53 sends the platform position and attitude data to the satellite communication system through the bus interface 54 and the data bus 15. The first preferred implementation of the present invention described above is referred to as application enhancement

536637 V. Description of the invention (40) Universal navigation and control box for fully coupled global positioning system / inertial measurement module with height measurement, in which GPS pseudorange, carrier phase, and Doppler frequency shift measurement, and inertia The measurement and height measurement are mixed in a Kalman filter.

The universal navigation and control box can also be implemented with the integration of a fully coupled GPS / inertial measurement unit and altitude measurement. This is the second preferred implementation of the present invention, in which a Kalman filter is used to mix GPS pseudorange and Doppler frequency shift measurements, inertial measurements, and altitude measurements from an altitude measurement device. Different from the first preferred implementation of the present invention, in this method, the carrier phase of the GPS satellite signal is not used in the combination scheme. Such as the first, third, fourth, fifth, -B, sixth -B, seventh, eighth, ninth, tenth, eleventh, twelfth Figures, fourteenth, sixteenth, and seventeenth diagrams are used to illustrate the second preferred implementation of the present invention, which includes effective steps: 1 Perform GPS processing and receive GPS measurements, including from the global positioning system processor Pseudorange, Doppler frequency and time from 40, and send them to the navigation processing board 80.

2 Receive inertial measurements from the inertial measurement module 20, that is, the angular velocity and specific force of the carrier, use the I MU interface and the pre-processing board 60 to convert them into carrier acceleration and rotation digital data, and send them to the navigation processing board through the common bus 55. 8 0 and control board 50. 3 Receive the altitude measurement from the altitude measurement device 30, convert it to the mean sea level (MSL) digital data altitude with the altitude interface and processing board 70, and communicate

Page 44 536637 V. Description of the invention (41) 'a Use the bus 5 5 to send to the central navigation and control board 80 and the control board 50. 4 The INS processor 81 performs INS processing. , 5 In the Kalman filter 8 3, the I N S processor 8 1 turns out, the height measurement, and the GPS measurement are mixed. 6 The output of the Kalman filter 83 is fed back to the INS processor 81 'to modify the I NS navigation solution. 7 From the INS processor 81, through the common bus 55, the navigation data, that is, the platform speed 'position, altitude, heading, and time are output to the control board 53. 8 Send platform speed, position, attitude, heading, and time data to the flight management system11. 9 Send the platform speed ’attitude, body acceleration, and rotation data to the flight control system 1 2. 1 0 Send the platform position and time data to the automatic related monitoring system 1 3. 11 Send the platform position 'speed and attitude data to the enhanced ground proximity alarm system17. 1 2 Send the platform attitude and body acceleration data to the aerial imaging radar. 1 3 Send the platform position and attitude data to the satellite communication system 9. After step 6 ', an additional step 6 (a) can be added from the INS processor 8 1 to inject the speed and acceleration data into the GPS processor 4 0's microprocessor 4 54 \ to assist the GPS code tracking, As shown in Figure 6-B. As shown in the fifth figure-B, the sixth figure-β and the fourteenth figure, in step 1, the second preferred implementation of the present invention, in addition to carrier phase tracking and speed-plus β speed assisted carrier phase tracking, The first preferred implementation of the present invention is the same. Navigation processing board 8 〇 from GPS processor 4 〇 only access

Page 45 536637 V. Description of the invention (42) Receive pseudorange and Doppler frequency shift, excluding carrier phase measurement. As shown in the fifth figure-B, in step 1, in addition to the signal processor 45, the GPS antenna 4 1, the preamplifier 4 2, the down converter 4 3, the IF sampling and A / D converter 44, and the oscillation The device 46 has the same function as that in the first preferred implementation of the present invention. The signal processor 45 receives the digitized data from the IF sampling and A / D converter 44 to extract the navigation data modulated on the GPS signal, such as GPS satellite ephemeris' atmospheric data, satellite clock parameters, and time information. The signal processor 45 also processes the digital signals from the IF samples and the A / D converter 44 to extract pseudorange and Doppler shifts. The extracted pseudorange and Doppler frequency are shifted to the navigation processing board 80. In step 6A, the signal processor 45 receives speed and acceleration from the navigation processing board 80 for code tracking assistance. As shown in Figure 6-B, in step 1, a pseudo-range measurement is derived from the GPS code and the vertical loop. The GPS code tracking loop includes a correlator 4 5 2, an accumulator 4 5 3, a microprocessor 4 5 4, a code digitally controlled oscillator (NC0) 4 5 7, and an encoder 456. Doppler shift is obtained from the GPS satellite signal frequency tracking loop. This GPS satellite signal frequency tracking loop is different from the carrier phase and vertical loop in the first preferred implementation of the present invention. The frequency and vertical loops include Doppler removal 451, correlator 452, accumulator 4 53, microprocessor 4 54, carrier digitally controlled oscillator (NCO) 455, of which microprocessor 454 does not perform carrier phase detection. As shown in the sixth figure_B, in step 1, the functions of the Doppler removal 451, the correlator 452, the accumulator 453, the carrier NC0455, and the code NC0457 are the same as those in the first preferred implementation of the present invention. The microprocessor 454 has different functions in the second preferred implementation of the present invention.

Page 46 536637 V. Description of the invention (43) As shown in Figure 6-B 'In step 1, the accumulated values (13 and 14) from the accumulator 4 5 3 are stored and collected by the microprocessor 454, and the accumulator is emptied 453. Generate a signal accumulation and flying filtering method. The microprocessor 454 performs code tracking loop filtering, code capture processing, code lock detection, data recovery, and pseudorange and Doppler frequency shift processing. In step 6A, the microprocessor 4 54 receives speed and acceleration information from the navigation processor 80 for external auxiliary code tracking loop filtering, code capture processing, code lock detection, data recovery, and pseudorange and Doppler. Le frequency shift processing. As in the sixth figure-B, in step 1, the microprocessor 454 outputs the pseudorange and Doppler frequency shift to the navigation processing board 80. As shown in FIG. 14 ', in step 2, the IMU interface and the pre-processing board 60 outputs the inertial measurement of the angular velocity and acceleration of the body to the INS processor 81 of the navigation processing board 80. In step 3, the altitude interface and processing board 70 outputs the altitude measurement to the Kalman crossing wave 83 of the navigation processing board 80. As shown in the fourteenth figure, in step 5, enter the microprocessor 4 54 of \ ^^^^ 60, output the pseudo-range, and multiply the two. ^ Department of J ° satellite ephemeris, and atmospheric data to the card The Λ ball positioning system waver 8 3 is from the NS processor 8 1, and the height is 8 and the wave 15 8 3. In the Kalman filter ball positioning system processor 60, the microprocessor 4 2 and the processing board 70, as well as the full extraction of position error, speed error, and attitude, the data is integrated 'with the processor 8 1 processing inertial measurement , Which is the body g error. In step 4, 1 NS Kalman filter 83 comes from the position error, velocity and acceleration, and from it to derive the corrected navigation solution. Navigation unpacking error, and attitude error ’3D attitude. These data are output to a card-echoing two-dimensional position 'three-dimensional velocity' of a Kalman filter 8 3. Another party

47 ^^-536637 V. Description of the invention (44) In the step 7, these data are also transmitted to the control board 5 3 through the common bus 5 5. As shown in the sixteenth figure, in step 4, the INS processor 81 in the second preferred implementation of the present invention functions the same as in the first preferred implementation of the present invention. As shown in the seventeenth figure, in step 5, in addition to the GPS error compensation module 8 3 7 of the Kalman filter 83, the robust Kalman filter in the second preferred implementation of the present invention is the same as that in the first embodiment of the present invention. The same works in the preferred implementation. The GPS error compensation module 8 3 7 collects the raw measurements of the g PS pseudorange and Doppler frequency shift from the global positioning processor 4 except the carrier phase. It collects position and velocity corrections from the updated pose and vector module 8 3 9. For gps error compensation. The corrected G P S pseudorange and Doppler shifted raw data are sent to the preprocessing module 8 3 5. As shown in the third figure, the bus interface 55 provides an interface between the universal navigation and control box and the data bus 15. As shown in the first picture, the third picture, and the fourth picture, in step 8, the control board 5 3 sends the platform position, speed, attitude, heading, and time data to the flight through the bus interface 54 and the data bus 15. Management system 1 1. As shown in the first, third, and fourth figures, in step 9, the control board 5 3 sends the platform speed, attitude, body acceleration, and rotation data to the flight control through the bus interface 54 and the data bus 15 ′. System 1 2. As shown in the first diagram, the third diagram, and the fourth diagram, in step 10, the control board 53 sends the platform position and time data to the automatic correlation monitoring system 13 through the bus interface 54 and the data bus 15.

Page 48 536637 V. Description of the invention (45) As shown in the first, third, and fourth figures, in step 11, the control board 5 3 sends the platform position through the bus interface 54 and the data bus 15. , Speed and attitude data to the enhanced ground proximity alert system 17. As shown in the first picture, the third picture, and the fourth picture, in step 12, the control board 5 3 sends the platform attitude and volume acceleration data to the aerial imaging radar 18 through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 13, the control board 5 3 sends the platform position and attitude data to the satellite communication system 19 through the bus interface 54 and the data bus 15. Loose coupling integration of GPS and inertial navigation system is the simplest integration mode, which uses the position and velocity derived by GPS as measurements in the Kalman filter. This integration model does not require high-speed integrated processors and complex GPS processors. This leads to its cost advantage. The universal navigation and control box can also be implemented by the integration of loosely coupled GPS inertial measurement components and height measurement, which results in the third preferred implementation of the present invention. The third preferred implementation of the present invention uses a Kalman filter to mix position and velocity derived from the global positioning system, inertial measurements, and altitude measurements from an altitude measurement device. Different from the first and second preferred implementation schemes of the present invention, in this method, GPS satellite signal code tracking and carrier phase tracking are not assisted by an external I NS solution. And, unlike the first and second preferred implementations of the present invention, this method uses positions and velocities derived from the global positioning system in the Kalman filter instead of pseudorange, Doppler shift, and carrier phase.

Page 49 536637 V. Description of the invention (46) Such as the first picture, the second picture, the third picture, the fourth picture, the fifth picture—C, the sixth picture-C, the seventh picture, the ninth picture, and the tenth picture. Figure 11, Figure 12, Figure 12, Figure 15, Figure 16, and Figure 17 are used to describe the third preferred implementation of the present invention, which includes the following steps: 1 · GPS Process and receive GPS navigation solutions, including receiving position, speed, and time from the global positioning system processor 80 and sending them to the navigation processor board 80. 2 · Receive inertial measurements from the inertial measurement module 20, including carrier acceleration and specific force, convert them into digital data of body acceleration and rotation through the IMU interface and processing board 60, and send them to the navigation processing board 80 and Control board 5 3. 3. Receive the altitude measurement from the altitude measuring device 30, convert it to the average sea level MSL height in the form of digital data using the altitude interface and processing board 70, and send it to the navigation processing board 80 and control board 53 through the common bus 55. 4. INS processing is performed by the INS processor 81. 5 · Mix the output of the I NS processor 81, the altitude measurement, and the GPS measurement in the Kalman filter 83. 6 · The output of the Kalman filter 8 3 is fed back to the I NS processor 8 1 to modify the I NS navigation solution. 7. Through the common bus 55, the navigation data, that is, the platform speed, position, altitude, heading, and time are output from the INS processor 81 to the control board W. 8. Send the platform position, delivery, attitude, heading, and time data to the line management system 1 1. 9 · Send platform speed ’attitude, body acceleration and rotation data to flight control

Page 50 536637 V. Description of the Invention System 12. 1 〇 Send platform position and time number 11. Send platform position ’speed, approach alarm system 17. According to the automatic correlation monitoring system 1 3. And attitude data to the enhanced ground neighbor 12. Send the platform attitude and body acceleration data to the airborne radar 18. 13. Send the platform position and attitude data to the satellite communication system 19. As shown in the fifth figure-C, in step 1, the GPS antenna 41, the amplifier 42, the down-converter 43'IF sampling and the A / D converter 44, the oscillator 46, have the same function as the first in the present invention, The second preferred implementation is the same except for the signal processor 45. The signal processor 45 receives digitized data from the IF sampling and AD converter 44 to extract navigation data modulated on GPS signals, such as GPS satellite ephemeris, atmospheric data, satellite clock parameters' and time data. The signal processor 45 also processes digital data from the I F samples and the A / D converter 44 to extract pseudorange and Doppler shifts. The signal processor 45 does not assist in speed and acceleration for code and carrier phase tracking. As shown in the fifth figure-C, in step 1, the GPS navigation processor 47 is used to calculate the position and speed of the platform. The GPS navigation processor 47 receives pseudorange and Doppler frequency shifts from the signal processor 45, and performs a Kalman filter or a least squares algorithm to derive the position and speed. The position and speed are sent to the navigation processor 80. As shown in Figure 6-C, in step 1, the pseudo-range measurement is obtained from the p S code and the vertical loop, which includes a correlator 4 5 2, an accumulator 4 5 3, and a microprocessor 454 ′ code numerically controlled oscillator ( nc) 457, and encoder 456. The Doppler frequency shift is obtained from the GPS satellite signal frequency and the vertical loop.

536637 V. Description of the invention (48) The carrier phase tracking loop in the selected implementation scheme is different. The frequency and vertical loops include Doppler removal 451, correlator 452, accumulator 453, microprocessor 454, and carrier numerically controlled oscillator (NC0) 455, where the microprocessor 454 does not perform carrier phase detection. As shown in Figure 6-C, in step 1, Doppler removes 451, correlator 4 5 2 'accumulator 4 5 3, carrier NC〇 4 5 5, encoder 456, and code NC0457'. Its role is as follows: It is the same in the first and second preferred implementations of the present invention. The microprocessor 4 54 plays a different role in the third preferred implementation of the invention. As shown in Figure 6-C, in step 1, the accumulated $ (13 and Q3) from the accumulator 4 5 3 is stored and collected by the microprocessor 4 54, and the accumulator 4 5 3 is vacated to generate a signal component. Cumulative vacancy filtering. Microprocessor 4 5 4 advanced, code tracking loop filtering 'code capture processing, code lock detection, data recovery' and pseudorange and Doppler frequency shift processing. The microprocessor 4 5 4 does not receive external speed and acceleration information for external auxiliary code tracking loop filtering and carrier phase and vertical loop filtering. The pseudorange and Doppler frequency derived from the microprocessor 454 are sent to the GPS navigation processor 47. As shown in the sixth figure-C, in step 1, the microprocessor 454 outputs the position and speed to the navigation processor board 80. No, the 15th Garden corp. No, in step 2, the IMU interface and the processing board 60 fortunately measure the angular velocity and acceleration of the body to the navigation processing board 80 processor 81. In step 3, the height ^ is to the Kalman filter 83 of the navigation processor board 80. As shown in Figure 15 *, in step 5. , GPS processor

536637 V. Description of the invention (49) The ball positioning system navigation processor 4 7 outputs the position and speed to the Kalman filter 83. In the Kalman filter 83, the data from the 丨 N s processor 8 丨, the height interface and processing board 70 ', and the microprocessor 454 of the GPS processor 40 are integrated to obtain position errors, speed errors, And attitude errors. In step 4, the INS processor 81 processes the inertial measurements, i.e. the angular velocity and acceleration of the airframe, and the position error, velocity error 'and attitude error from the Kalman filter 83 to obtain a modified navigation solution. The navigation solution includes three-dimensional position ^ 'three-dimensional velocity, and three-dimensional attitude. These data are sent to the Kalman ferrule 8 3. On the other hand, in step 7, these data are also transmitted to the control board 53 through the public bus 55. As shown in FIG. 16, in step 4, the role of the INS processor 81 in the third preferred implementation of the present invention is the same as that in the second preferred implementation of the present invention. As shown in the seventeenth figure, in step 5, the robust Kalman filter in the third preferred implementation of the present invention is the same in the first and second preferred implementations of the present invention, except for the Kalman filter 8 G p S error compensation module of 3 is beyond 8 y 7. The GP S error compensation module 8 3 7 collects the GPS-derived position and speed from the GPS navigation processor 47. The position and velocity corrections are collected from the updated attitude vector module 8 3 9 for GpS error compensation. The corrected GPS position and speed are sent to the preprocessor module 8 3 5. As shown in the first, third and fourth figures, the bus interface 55 provides an interface between the universal navigation and control box and the data bus 15. In step 8, the control board 53 sends the platform position, speed, attitude, heading, and time data to the flight management system 11 via the bus interface 54 and the data bus 15.

Page 53 536637 V. Description of the invention (50) As shown in the first, third and fourth figures, in step 9, the control board 53 sends the flight control system 12 through the bus interface 54 and the data bus 15. Platform speed, attitude, body acceleration and rotation data. As shown in the first diagram, the third diagram, and the fourth diagram, in step 10, the control board 53 sends the platform position and time data to the automatic related monitoring system 13 through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 11, the control board 53 sends the platform position, speed, and attitude data to the enhanced ground proximity alarm system 17 through the bus interface 54 and the data bus 15. . As shown in the first diagram, the third diagram, and the fourth diagram, in step 12, the control board 53 sends the platform attitude and body acceleration data to the aerial imaging radar 18 through the bus interface 54 and the data bus 15. As shown in the first diagram, the third diagram, and the fourth diagram, in step 13, the control board 53 sends the platform position and attitude data to the satellite communication system 19 through the bus interface 54 and the data bus 15. In some applications, including land and water carriers, it is not important to provide accurate height measurements. As shown in the nineteenth figure, the universal navigation and control box 14 can delete the height measuring device 30, the corresponding height interface and the processing board 70. The Kalman filter only integrates the output of the INS processor 80 and GPS measurements. Therefore, the first variant of the first preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including pseudorange, carrier phase, and Doppler from the global positioning system processor 40 Frequency shift, and time. They are sent to the navigation processing board of the central navigation and control processor 50.

Page 54 536637 V. Description of the invention (51) 80. (2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and send them through the common bus 55 Go to the navigation processing board 80 and the control board 53. (3) INS processing is performed by the INS processor of the inertial navigation system. (4) In the Kalman filter 83, the I NS processor 8 1 output and G PS measurement are mixed. (5) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the I N S navigation solution. (6) Inject the speed and acceleration data from the INS processor 81 into the signal processor 45 of the global positioning system processor 40, which is used to assist the GPS signal code and carrier phase tracking. (7) Output the signal processor 45 of the global positioning system processor 40, the output of the INS processor 81, the output of the Kalman filter and the wave filter 83, and inject the carrier phase adjustment fuzzy solution module 8 2 to determine the GPS satellites. Signal carrier phase integer fuzzy number. (8) The carrier phase phase ambiguity resolution module 82 outputs the carrier phase phase correction number to the Kalman filter 83 to further improve the positioning accuracy. (9) The navigation data: platform speed, position, altitude, heading, and time are output from the INS processor 81 to the control board 53 through the common bus 55. The first variant of the second preferred solution of the present invention includes the following steps: (1) Perform G PS processing and receive G PS measurements, including those from global

Page 55 i 'Description of the Invention (52) Pseudorange, Doppler shift, and time for a system processor of 40 bits. They are sent to the navigation processing board 80. (2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and send them through the common bus 55. Go to the navigation processing board 80 and the control board 53. (3) INS processing is performed by the INS processor. (4) In the Kalman filter 83, the I N S processor 8 1 output and the GPS measurement are mixed.

(5) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (6) The navigation data: platform speed, position, altitude 'heading and time are output from the INS processor 81 to the control board 53 through the common bus 55. (7) The speed and acceleration data are injected from the INS processor 81 into the signal processor 4 5 4 of the global positioning system processor 4 0, which is used to assist the GPS positioning of the satellite signal code. The first variation of the third preferred solution of the present invention includes the following steps:

(1) Perform GPS processing and receive GPS measurements, including position, speed, and time from the global positioning system processor 40. They are sent to the navigation processing board 80 ° (2) to receive the inertial measurements from the inertial measurement module 20, including the angular rate and specific force of the body, and they are converted into body force through the IMU interface and the processing board 60. Speed and rotation Digital quantities and send them through the common bus 5 5

Page 536 637

5. Description of the invention (53) To the navigation processing board 80 and the control board 53. (3) INS processing is performed by the INS processor. The processor 8 1 outputs and the processor 8 1 to modify (4) the G P S measurement at the I N S in the Kalman filter 83. (5) The feedback Kalman filter 83 is output to the INS positive I NS navigation solution. The position, display degree, Beiyi Mandu ground-sensing navigation board 80 is converted to Keke Λ6) The navigation data: platform speed, bit = and time are output from the INS processor 81 to the control board 53 using the bus 55. As shown in the tenth, twenty-third, twenty-fourth and Tong Gao GM, the azimuth measurement precision of the navigation and control box 1: The box further includes a north finder, which provides the way through the wave 83. And the common bus 90 is the carrier heading measurement of the Carl I 3 ′ “navigation and control box” of the navigation processing board 80. The selected Northfinder 3 丨 is a magnetic sensor. The ball magnetic field ’measures the heading angle of the user. 1 Such as the magnetic measuring instrument 'Min mr's 1 J surround sensor: $ Measure' with the navigation and control box and control box 4 rolls and two :, f according to 5 for heading calculation 'universal guide horizontal coordinates ^; 81. Get 1 amount of magnetic field element obtains the magnetic heading angle from the carrier coordinate system. Anyway, by the ratio of the element ratio of the horizontal coordinate system, anyway, in order to obtain high ulcers, the magnetic heading / magnitude of the magnetic p is required. In general navigation and control The local magnetic field of the box is a magnetic measurement error model, and high-precision compensation is performed. The sum of the Earth's magnetic field and magnetic interference near Xia Yi 31.

Page 57 536637 V. Description of the invention (54) The interference near the magnetic measuring instrument 3 1 is affected by the installation and can be reduced by the offset angle, the scale factor and the deviation. These errors can be corrected by solving a linear equation, which is generated by a least square curve fit of the matrix elements. The data to be entered is generated by turning the entire carrier. The magnetic measuring instrument is installed at different positions on the carrier, and the pitch, roll, and heading are known. By processing the data, a scale factor of 3 X 3 and an offset angle matrix, and a magnetic deviation vector of 3X1 can be obtained. As long as each magnetic measurement is compensated, high-precision heading measurement after installation can be obtained. Therefore, the second variant of the first preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including pseudorange, carrier phase, Doppler from the global positioning system processor 4 Le frequency shift, and time. They are sent to the navigation processing board 80 of the central navigation and control processor 50 (2) to receive inertial measurements from the inertial measurement module 20, including the body angular rate and specific force, and convert them through the IMU interface and the processing board 60 Are digital quantities of the body acceleration and rotation, and send them to the navigation processing board 80 and the control board 53 through the common bus 55. (3) Receive the earth's magnetic field vector from the magnetic measuring instrument through the common bus 55, and the pitch and roll angles from the navigation board 80, and calculate and measure the pitch and roll with the earth's magnetic field vector from the northbound interface and the processing board 90 The magnetic heading angle is sent to the navigation processing board 80 through a common bus. (4) I N S processing is performed by the I N S processor of the inertial navigation system. (5) Mixed I N S processor 8 1 output in Kalman filter 8 3,

Page 58 536637 V. Description of the invention (55) G PS measurement and magnetic heading angle. (6) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (7) The speed and acceleration data are injected from the INS processor 81 into the signal processor 45 of the global positioning system processor 40, which is used to assist the GPS signal code and carrier phase tracking. (8) The signal processor 45 of the global positioning system processor 40 is output, the INS processor 81 is output, the Kalman filter 83 is output, and the carrier phase phase fuzzy solution module 8 2 is injected to determine the GPS satellite signal carrier Phase integer fuzzy number.

(9) The carrier phase phase ambiguity resolution module 8 2 outputs the carrier phase phase correction number to the Kalman filter 83 to further improve the positioning accuracy. (1 0) The navigation data: platform speed, position, altitude, heading, and time are output from the INS processor 81 to the control board 53 through the common bus 55. The second variant of the second preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including pseudorange, Doppler frequency shift, and time from the global positioning system processor 40 . They are sent to the navigation processing board 8 0 〇

(2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and convert them through the common bus 55 To the navigation processing board 80 and the control board 53. (3) Receive the Earth's magnetic field from the magnetic measuring instrument 3 1 through the common bus 5 5

Page 59 536637 V. Description of the invention (56). Receive the pitch and roll angles from the navigation board 80. The northbound interface and the processing board 90 calculate the magnetic heading angle with the measurement, pitch and roll of the earth ’s magnetic field vector. The magnetic heading angle is sent to the navigation processing board 80 through a common bus. (4) INS processing is performed by the INS processor. (5) In the Kalman filter 83, the output of the I NS processor 81, the GPS measurement, and the magnetic heading angle are mixed. (6) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (7) The navigation data: platform speed, position, altitude, heading, and time are output from the INS processor 81 to the control board 53 through the common bus 55. (8) The speed and acceleration data are injected from the INS processor 81 into the microprocessor 4 5 4 of the global positioning system processor 40, which is used to assist the GPS signal code tracking. The second variation of the third preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including the position, speed, and time from the global positioning system processor 40. They are sent to the navigation processing board 80. (2) Receive inertial measurements from the inertial measurement component 20, including the angular velocity and specific force of the body, and convert them into digital quantities of the body's acceleration and rotation through the IM interface and the processing board 60, and pass the common bus 5 5 Send them to the navigation processing board 80 and the control board 53. (3) The earth magnetic field vector is received from the magnetic measuring instrument 31 through the common bus 55, and the pitch and roll angles are received from the navigation board 80, which is interfaced and processed by the north finder.

Page 60 536637 V. Description of the invention (57) ---- Plate 9 0 is measured with the earth's magnetic field vector, he < ^ ^ ^ ^, pitch and roll are used to calculate the magnetic heading angle, and the magnetic heading angle can be changed through the bus. Reach the navigation processing board 80. (4) INS processing is performed by the INS processor. Γρς, ai (say 5) mix the output of the INS processor 81 and the GPS measurement in a Kalman filter 83. (6) The feedback Kalman filter 83 is output to the INS process to correct the INS navigation solution. j 7) The navigation data: platform speed, position, altitude, direction, and time are output from the INS processor 81 to the control board 53 via the common bus 55. 々When GPS signals are not available, in order to compensate for INS position error drift, as shown in Figures 10, 12, 12, 24 and 25, the universal navigation and control box further includes a speed sensor 32. Through finding a speed sensor interface, a processing board 90 and a common bus 90, the Kalman filter 83 of the navigation processing board 80 is provided with a carrier speed measurement of the navigation and control box 14. The speed sensor 32 is used to generate a user's speed measurement relative to the ground and water. As shown in Figure 22, the preferred speed sensor 32 is based on the Doppler effect principle and includes: an RF (radio frequency) speed sensor 3201 including a radar; a sound speed sensor 3202 including a sonar; A laser speed sensor 3203 includes a lidar. Based on the Doppler effect, the speed sensor 32 measures the speed of the user relative to the ground through a sensitive Doppler frequency. The Doppler effect is a frequency shift generated by a wave emitted from the speed sensor 3 2 reflected by a moving object. In the present invention,

Page 61 536637 V. Description of the invention (58) Doppler shift Radio waves caused by the user's relative ground motion Frequency of acoustic waves and reflected waves of laser light 0 If the user's distance to the ground decreases, the wave is compressed 0 Their wavelength decreases The frequency increases by 0. If the distance increases by y, the effect is reversed. 0 The white ground echoes. The Doppler frequency can be calculated as fd two nVRcosL λ where fd ~ Doppler frequency of the ground echo, HZ VR ~ user speed feet (M) /, second L = the angle between the speed VR and the line of sight λ = the transmission wavelength unit is the same as VR. As shown in Figure 22, the speed sensor 32 further includes an odometer connected to α 3 2 0 4 so when the system of the present invention is applied For land vehicle speed sensors 32 Odometer input Odometer measurement 0 The odometer measurement can be converted to the user's speed measurement relative to the ground. As shown in the twentieth_one figure, the speed sensor 32 further includes a water speedometer connected to π 3 2 0 4 The underwater vehicle speed sensor 32 can input speed measurement from a water speed meter installed in the underwater vehicle. Therefore, the second variation of the first preferred solution of the present invention includes the following steps: (1;) GPS processing And receive GPS measurements, including the pseudo-range carrier phase of the GPS processor 40, the 5 Doppler shift, and time. They are sent to the navigation processing board of the central navigation and control processor 50.

Page 62 ~ O〇j7 V. Description of the invention (59) 800 (2) Receives inertial measurements from the inertial measurement module 20, including the angle of withdrawal and specific force, and converts them through the IMU interface and processing board 60 Are digital quantities of the body acceleration and rotation, and send them to the navigation processing board 80 and the control board 53 through the common bus 55. (3) Receive the original signal measurement proportional to the speed of the carrier relative to the ground and water from the speed sensor 31, and convert the original signal measurement to the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 9, 1 The speed of the carrier coordinate system relative to the ground and water is sent from the common bus 55 to the navigation processing board 80. (4) INS processing is performed by the INS processor of the inertial navigation system. (5) In the Kalman filter 83, the output of the I n S processor 81, the GPS measurement, and the magnetic heading angle are mixed. (6) The feedback Kalman filter 8 3 is output to the N s processor 8 1 to correct the I NS navigation solution. (7) Speed and acceleration data are injected from the INS processor 81 into the signal processor 45 of the global positioning system processor 40, which is used to assist the global positioning system satellite signal and carrier phase tracking. (8) Output the GPS signal processor 45 from the GPS processor 4; output from the INS processor 81; output from the Kalman filter 83; inject the carrier; and disintegrate the module 82 to determine the GPS signal carrier phase Integer fuzzy number. Number two) upload = phase ambiguity resolution module 82 outputs the carrier phase integer number to the Kalman filter 83 to further improve the positioning accuracy.

Page 63 536637 V. Description of the invention (60) (1 0) The navigation data · platform speed ’position, altitude, heading and time are output from the INS processor 81 to the control board 53 through the common bus 55. The third variation of the second preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including pseudorange, Doppler frequency shift, and time from the global positioning system processor 40 . They are sent to the navigation processing board 80. (2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and send them through the common bus 55. Go to the navigation processing board 80 and the control board 53. (3) receiving the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and converting the original signal measurement to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 91 The carrier coordinate system speed relative to the ground and water is sent to the navigation processing board 80 from the common bus 55. (4) INS processing is performed by the INS processor. (5) The output of the INS processor 81, the GPS measurement, and the magnetic heading angle are mixed in a Kalman filter 83. (6) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (7) The navigation data, platform speed, position, altitude, heading, and time are output from the INS processor 8 to the control board 53 through the common bus 55. (8) Inject speed and acceleration data into the global

Page 64 536637 V. Description of the invention (61) The microprocessor 4 5 4 of the system processor 40 is used to assist the GPS satellite signal code tracking. The third variation of the third preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including position, speed, and time from the global positioning system processor 40. They are sent to the navigation processing board 80.

(2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, and convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and send them through the common bus 55. Go to the navigation processing board 80 and the control board 53. (3) Receive the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and convert the original signal measurement to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 91 And the speed of the carrier coordinate system relative to the ground and water is sent from the common bus 55 to the navigation processing board 80. (4) INS processing is performed by the INS processor. (5) In the Kalman filter 83, the I N S processor 8 1 output and G P S measurement are mixed. (6) The feedback Kalman filter 8 3 is output to the 1 N S processor 8 1 to repair

Positive INS navigation solution. (7) The navigation data: platform speed 'position, altitude, heading and time are output from the INS processor 81 to the control board 53 via the common bus 55. In some applications, Northfinder, speed sensor 32 and GPS

No. 65 536637

The system processor 40 and the inertial measurement unit 20 are jointly used. Therefore, the fourth variation package (1) of the first preferred solution of the present invention performs GPS processing and receiving GPS measurements, including pseudorange, carrier phase, and Doppler frequency shift from the full-bit system processor 40, And between. They are sent to the navigation processing board 800 of the central navigation and control processor 5 0 (2) to receive inertial measurements from the inertial measurement module 2 0, including the angular rate and specific force of the body. They are sent through the IMU interface and the processing board 60 It is converted into digital quantities of the body acceleration and rotation, and they are sent to the navigation processing board 80 and the control board 53 through the common bus 55. (3) Receive the earth's magnetic field vector from the magnetic measuring instrument 31 through the common bus 55, and receive the pitch and roll angles from the navigation board 80. The north finder interface and the processing board 90 use the earth's magnetic field vector to measure, pitch and roll Roll to calculate the magnetic heading angle, and send the magnetic heading angle to the navigation processing board 80 through the common bus. (4) Receive the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and convert the original signal measurement to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 91. And the speed of the carrier coordinate system relative to the ground and water is sent from the common bus 55 to the navigation processing board 80. (5) I N S processing is performed by the I N S processor of the inertial navigation system. (6) In the Kalman filter 83, the output of the I NS processor 81, the GPS measurement, and the magnetic heading angle are mixed. (7) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to repair

Page 66 536637

V. Description of the invention (63) Positive 1 NS navigation solution. (8) Speed and acceleration data are injected from the INS processor 81 into the signal processor 45 of the global positioning system processor 40, which is used to assist the GPS hygienic 彳 s number and carrier phase tracking. (9) The signal processor 45 of the global positioning system processor 4 5 outputs the output of the INS processor 81 and the output of the Kalman filter 83 is injected into the carrier phase ambiguity resolution module 8 2 to determine the GPS satellite signal carrier Phase integer fuzzy number. (10) The carrier phase phase ambiguity resolution module 82 outputs the carrier phase phase correction number to the Kalman filter 83 to further improve the positioning accuracy.

(1 1) The navigation data: platform speed, position two degrees' heading and time are output from the INS processor 81 to the control board 53 via the common bus 55. The fourth variation of the second preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including pseudorange, Doppler frequency shift, and time from the global positioning system processor 40. . They are sent to the navigation processing board 80. (2) Receive the inertial measurement from the inertial measurement module 20, including the angular velocity and specific force of the body, and convert them into digital quantities of the body's acceleration and rotation through the MU interface and the processing board 60, and pass the common bus 55 They are sent to the navigation processing board 80 and the control board 53.

3) Receive the earth's magnetic field vector from the magnetic measuring instrument 31 through the common bus 55, and receive the pitch and roll angles from the navigation board 80. The northbound interface and the processing board 90 will use the earth's magnetic field vector to measure, pitch and roll. Roll calculation of magnetic heading angle, pass

536637 V. Description of the invention (64) The magnetic heading angle is sent to the navigation processing board 8 Q via the common bus. (4) Receive the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and convert the original signal measurement to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 91 And the speed of the carrier coordinate system relative to the ground and water is sent from the common bus 55 to the navigation processing board 80. (5) INS processing is performed by the INS processor. (6) In the Kalman filter 83, the output of the I NS processor 81, the GPS measurement, and the magnetic heading angle are mixed. (7) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (8) The navigation data: platform speed, position, altitude, heading, and time are output from the INS processor 81 to the control board 53 via the common bus 55. (9) The speed and acceleration data are injected from the INS processor 81 into the microprocessor 4 5 4 of the global positioning system processor 40, which is used to assist the GPS signal code tracking. The fourth variation of the third preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including the position, speed, and time from the global positioning system processor 40. They are sent to the navigation processing board 80. (2) Receive inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, and convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and convert them through the common bus 55 give away

Page 68 536637 V. Description of the invention (65) To the navigation processing board 80 and the control board 53. β (3) receives the earth's magnetic field vector from the magnetic measuring instrument 31 through the common bus 55, and receives the pitch and roll angles from the navigation board 80, and the earth finding vector measurement, pitch and Roll calculation of magnetic heading angle '· Send the magnetic heading angle to the navigation processing board 80 through the common bus. (4) Receive the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and convert the original signal to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 9 1 And send the speed of the coordinate system relative to the ground and water from the common bus 55 to the navigation processing board 80. (5) INS processing is performed by the INS processor. (6) In the Kalman filter 83, the I N S processor 8 1 output and the G P S measurement are mixed. (7) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (8) The navigation data: platform speed, position, angle's heading and time are output from the INS processor 81 to the control board 53 via the common bus 55. Therefore, the fifth variation of the first preferred solution of the present invention includes the following steps: 'The dagger (1) performs GPS processing and receives GPS measurements, including pseudorange and carrier phase from the full-bit system processor 40, Doppler frequency shift. They are sent to the central navigation and control processor 50 at 80. The annual machine management board (2) receives the inertial measurement 1 from the inertial measurement module 2 〇, including the machine

Page 69 536637 V. Description of the invention (66) The body angular velocity and specific force are converted into digital quantities of the body acceleration and rotation through the IMU interface and the processing board 60, and sent to the navigation processing through the common bus 5 5 Board 8 0 and control board 5 3. (3) Receive the altitude measurement from the altitude measuring device 30, convert it into digital form sea level altitude by the altitude interface and processing board, and send it to the navigation processing board 80 and control board 53 through the public bus 55. (4) The earth magnetic field vector is received from the magnetic measuring instrument 31 through the common bus 55, and the pitch and roll angles are received from the navigation board 80, and the north finder interface and the processing board 90 are used to measure, pitch and roll the earth magnetic field vector Roll to calculate the magnetic heading angle, and send the magnetic heading angle to the navigation processing board 80 through the common bus. (5) Receive the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and convert the original signal measurement to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 91. And the speed of the carrier coordinate system relative to the ground and water is sent from the common bus 55 to the navigation processing board 80. (6) I N S processing is performed by the inertial navigation system 丨 N s processor. (7) In the Kalman filter 83, the output of the I NS processor 81, the GPS measurement, and the magnetic heading angle are mixed. (8) The feedback Kalman filter 8 3 is output to the NS processor 8 1 to correct the I NS navigation solution. (9) Speed and acceleration data are injected from the INS processor 81 into the signal processor 45 of the global positioning system processor 40, which is used to assist the global positioning system satellite signal code and carrier phase tracking. (10) the signal processor 45 of the GPS processor 40

Page 70, description of the invention (67) The output of the Kalman filter 8 3 is injected into the carrier to determine the GPS satellite signal carrier. The output of the INS processor 81 f phase ambiguity resolution module 82 is only the integer fuzzy number. (1 1) Carrier phase ambiguity resolution module 8 2 outputs carrier phase rectification to the Kalman filter 8 3 to further improve the positioning accuracy. (1 2) The navigation data: platform speed, position orientation 'heading and time are output from the NS processor 81 to the control board 53 through the common bus 55. A fifth variation of the second preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including pseudoranges, Doppler frequency shifts from the global positioning system processor 40, and time. They are sent to the navigation processing board 80. (2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and send them through the common bus 55 Go to the navigation processing board 80 and the control board 53. (3) Receive the altitude measurement from the altitude measuring device 30, convert it into digital form sea level altitude by the altitude interface and processing board, and send it to the navigation processing board 80 and the control board 53 through the public bus 55. (4) Receive the earth's magnetic field vector from the magnetic measuring instrument 31 through the common bus 55, and receive the pitch and roll angles from the navigation board 80. The north finder interface and the processing board 90 use the earth's magnetic field vector to measure, pitch and roll Roll to calculate the magnetic heading angle, and send the magnetic heading angle to the navigation processing board 80 through the common bus. (5) Receive from the speed sensor 3 丨 the carrier sitting opposite the ground and water

536637 V. Description of the invention (68) Measurement of the original signal proportional to the speed of the standard system, the speed sensor interface and the processing board 9 1 convert the original signal to measure the speed of the coordinate system relative to the ground and water, and the vector The coordinate system speed is sent from the common bus 55 to the navigation processing board 80. (6) INS processing is performed by the INS processor. (7) The output of the INS processor 81, the GPS measurement, and the magnetic heading angle are mixed in a Kalman filter 83. (8) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the INS navigation solution. (9) The navigation data: platform speed, position, altitude, heading, and time are output from the INS processor 81 to the control board 53 through the common bus 55. (10) Speed and acceleration data are injected from the INS processor 81 into the microprocessor 4 5 4 of the global positioning system processor 40, which is used to assist GPS signal code tracking. The fifth variation of the third preferred solution of the present invention includes the following steps: (1) Perform GPS processing and receive GPS measurements, including position, speed, and time from the global positioning system processor 40. They are sent to the navigation processing board 80. (2) Receive the inertial measurements from the inertial measurement module 20, including the angular velocity and specific force of the body, convert them into digital quantities of the body's acceleration and rotation through the IMU interface and the processing board 60, and convert them through the common bus 55 To the navigation processing board 80 and the control board 53. (3) receiving an altitude measurement from an altitude measuring device 30,

Page 536637

The interface and the processing board transform it into sea level height in digital form, and the bus 55 is used to send the navigation processing board 80 and the control board 53. The male (4) receives the earth's magnetic field from the magnetic measuring device 31 through the common bus 55. Receive the pitch and roll angles from the navigation board 80, and calculate the magnetic heading angle from the northbound interface and the H-board 90 using the magnetic field vector measurement, pitch and roll. Have you ever used the bus to send the magnetic heading angle to the navigation? Treatment plate 80. (5) Receive the original signal measurement proportional to the speed of the carrier coordinate system relative to the ground and water from the speed sensor 31, and convert the original signal measurement to the speed of the carrier coordinate system relative to the ground and water by the speed sensor interface and the processing board 9 1 The speed of the carrier coordinate system relative to the ground and water is sent from the common bus W to the navigation processing board 80. (6) INS processing is performed by the INS processor. (7) Mix the output of the I N S processor 81 and the G PS measurement in the Kalman filter 83. (8) The feedback Kalman filter 8 3 is output to the I NS processor 8 1 to correct the I NS navigation solution. (9) The navigation data: platform speed, position 'altitude, heading and time are output from the INS processor 81 to the control board 53 through the common bus 55. To obtain real airspeed and barometric altitude measurements useful for flight control, the universal navigation and control box further includes an air data sensor 33. As shown in Fig. 18, the air data sensor 33 further includes a static pressure sensor for providing static pressure and pressure measurement, and a dynamic pressure sensor and detector for providing dynamic pressure and free air flow temperature measurement.

Page 73 536637 V. Description of the invention (70) The air data interface and processing board 93 uses the air data equation to calculate the barometric altitude and true airspeed measurement of the relative control board 53. In the aircraft application of the present invention, it is important that the aircraft avoid collisions with the ground and water. The 'universal navigation and control box 14 therefore further includes a topographic database 34. The terrain database can provide the height of the terrain around the user's current location. If it is possible to collide with the terrain, the height of the terrain around the user's current location provided by the terrain database interface and the processing board 9 3 is further compared with the height of the user from the navigation processing board 80 via the common bus 55. If there is a possibility of collision with the terrain, the terrain database interface and processing board 9 3 sends a terrain collision warning message to the control board 53. The control board 53 displays the terrain collision warning information on the panel 16 'As shown in the twelfth figure, the terrain database 722 may be replaced by receiving terrain data from the terrain database interface and the processing board 93. In the carrier application of the present invention, it is important that the aircraft avoid collisions with surrounding objects. Therefore, the universal navigation and control box 14 further includes a target detection system 35. The target detection system 35 is used to obtain the positions of nearby objects. The target detection system provides notification of targets found around. The target detection system 35 does not necessarily discern the detailed characteristics of the target, although it can sometimes do so. Having a goal nearby is a simple warning to bring further attention. The target detection is affected by the characteristics of the target. The target characteristic is a sufficient condition to distinguish the target from the week, the frame and the background. For example, the target detection system 35 can alert a plane ', which may be a Boeing 747 or an Airbus 320. The detection system interface and the processing board 9 4 obtain the target's movement and distance. When these two parameters are known, use appropriate logical formulas to solve the collision avoidance problem.

Page 74 536637 V. Description of Invention (71). As shown in the twenty-ninth figure, the target detection system 3 5 may be an image 3 5 0 1 or a sensor 3502. The sensor 3502 includes radar, laser, lidar, sonar, infrared and video, and it can cover all or part of the surrounding field of view. Image 3501 can be passive or active, including LDRI (Laser Dynamic Distance Sensor) images. As shown in Figure 29, the target detection system 35 may further come from the position of the friendly carrier to avoid collision with the friendly carrier. The object detection system interface and processing board 94 of the present invention mainly has the following characteristics: (1) The object detection system interface and the processing board 94 determines a target state that may approach the target within a certain time period. (2) The interface between the target detection system and the processing board 94 receives the position information of the approaching target from the target detection system 35. The position information includes the current time epoch, position, and velocity vector. (3) The interface of the target detection system and the processing board 9 4 calculates and determines the approach target range (ΑΟZ) 〇ΑΑZ is defined as the reachable airspace close to the target. (4) The interface of the target detection system and the processing board 94 receives the main position information from the navigation processing board 80. The position information includes the current time epoch and position, and the velocity vector. (5) The interface and processing board of the target detection system 94 calculates and determines the area that the next epoch may reach based on the current position information. A certain logic is used to calculate the intersection of the two areas, and the proper warning status should be determined by the applicable rules.

Page 75 536637 V. Description of the invention (72) The warning status is output to the display panel 16 through the control board 53. The data link is designed based on the following requirements: Group registration: Any carrier close to the airspace must be registered in the collision avoidance communication system to obtain communication resources. Group removal: Any carrier leaving the airspace must be removed from the communication system to release communication resources. Routing data exchange: Under this data logic, each carrier in the airspace equally enjoys information from other carriers. This information includes the real-time dynamic state of the carrier and its maneuvering parameters. According to the International Standards Organization definition (I S 0), any communication network is divided into 7 layers. I SO developed an open system internal connection (0 S I) protocol for the internal operation of data network equipment multi-user equipment. The preferred scheme of the forward data link of the target detection system interface 35 is designed as a three-tier system. The lowest level is the physical network structure. The middle tier provides access to basic management facilities at the lowest and highest levels. Application logic is used at the highest communication level. The bottom two layers are related to a specific network structure. The application layer design includes 6 sub-modules: input package management, output package management, package processing logic, package collection logic and online carrier registry. Input packet management This module is used to receive data packets from the bottom layer. It caches, analyzes, and classifies incoming packets. Packet processing logic

Page 76 536637 V. Description of Invention (73) This module parses the packet data so that it can be used by upper-layer applications. Online Carrier Registry This module manages the group member registry. Each carrier in the airspace communication domain is maintained in the registry. This table is used to track the communication status of all members of the group. This table is important for communication system management. Output packet management This module manages the transmission buffer and the priority management of the output packets. This module prepares data packets for the bottom layer. Packet Assembly Logic This module converts the broadcast from the upper layer into the relevant data packets for the communication system.

In some applications, such as a handheld navigator, the user must exchange user location information with other users. Therefore, the universal navigation and control box 14 further includes a wireless communication device 36. In some applications, such as a handheld navigator, the user must display location and surrounding information by accessing a terrain database with user information. Therefore, the universal navigation and control box 14 further includes a display device 37.

Page 77 536637 Brief description of the diagrams Illustrations Diagram 1: A block diagram is used to illustrate a universal navigation and control box. According to the present invention, the box is equipped with a flight management system, a flight control system, an automatic correlation monitoring system, a cockpit display system, an enhanced ground proximity warning system, an aerial imaging radar, and a satellite communication system. FIG. 2 is a block diagram of a universal navigation and control box according to the present invention. FIG. 3 is a block diagram illustrating the structure of a universal navigation and control box according to the present invention. Figure 4: A block diagram illustrating the flow of navigation and sensor data within the universal navigation and control box and the flow of data between the control board and other avionics systems in accordance with the present invention. Fifth Figure-A: is a block diagram illustrating the GPS processor and external auxiliary information from the navigation processing board according to the first preferred implementation of the present invention. Fifth Figure-B: A block diagram of the hard system, according to the second preferred implementation scheme of the present invention, is used to explain the GPS processor and external auxiliary information from the navigation processing board. Fifth Figure-C: is a block diagram illustrating that the GPS processor has no external auxiliary information according to the third preferred implementation of the present invention. Figure 6-A: A block diagram illustrating the GPS signal processor and the _ external assistance information from the navigation processing board according to the first preferred implementation of the present invention. Figure 6-B: A block diagram according to the second preferred implementation of the present invention-

Page 78 536637 Brief description of the scheme is used to describe the GPS signal processor and external auxiliary information from the navigation processing board. Figure 6-c: It is a block diagram illustrating the GPS signal processor and external auxiliary information from the navigation processing board according to the third preferred implementation of the present invention. FIG. 7 is a block diagram of an analog signal interface according to the present invention. FIG. 8 is a block diagram of a serial signal interface according to the present invention. Fig. 9 is a block diagram of a pulse signal interface according to the present invention. Fig. 10 is a block diagram of a parallel digital signal interface according to the present invention. Fig. 11 is a block diagram illustrating the height interface and processing board of the air pressure measuring device according to the present invention. Figure 12: A block diagram illustrating the interface and processing board of a radar altimeter according to the present invention. Figure 13: A block diagram of the integrated navigation processing of the navigation processing board according to the first preferred implementation of the present invention, including a global positioning system, an inertial sensor, and an altitude measuring device. Fourteenth figure: A block diagram of integrated navigation processing of a navigation processing board according to the second preferred implementation of the present invention, including a global positioning system, an inertial sensor, and a radar altimeter, to illustrate a data fusion module. Fig. 15 is a block diagram of integrated navigation processing of a navigation processing board according to the third preferred implementation of the present invention, which includes a global positioning system, an inertial sensor, and a radar altimeter to illustrate a data fusion module. Fig. 16 is a block diagram of an inertial navigation processing of a navigation processing board according to the above two preferred implementation schemes of the present invention.

Page 536637 Brief Description of Drawings Figure 17: A block diagram of a Kalman waver implementation of a navigation processing board according to the two preferred implementation schemes of the present invention. Figure 18: A block diagram of a fuzzy phase solution of a GPS signal carrier phase of an inertial assistance navigation processing board according to the first preferred implementation of the present invention. Fig. 19 is a block diagram of a general navigation and control box without other optional equipment according to the present invention. Figure 20: A block diagram of a general navigation and control box with other optional equipment according to the present invention.

Figure 21: A block diagram illustrating the structure of a universal navigation and control box with other optional equipment in accordance with the present invention. Figure 22: A block diagram illustrating the optional speed sensor. Figure 23: A block diagram of the integrated navigation processing of the navigation processing board according to the first preferred implementation of the present invention, including a global positioning system, an inertial sensor, and other optional equipment. Figure 24: A block diagram of the integrated navigation processing of the navigation processing board according to the second preferred implementation of the present invention, including a global positioning system, an inertial sensor, and other optional equipment to illustrate a data fusion module.

Figure 25: A block diagram of the integrated navigation processing of the navigation processing board according to the third preferred implementation of the present invention, including a global positioning system, an inertial sensor, and other optional equipment to illustrate a data fusion module. Twenty-sixth figure: The communication applied to a handheld device according to the present invention

Page 80 536637 Simple illustration of the diagram Block diagram with navigation and control box. Figure 27 is a block diagram of a universal navigation and control box with other optional equipment applied to a handheld device according to the present invention. Figure 28: Block diagram of airspeed sensor, airspeed sensor interface and processing board. Figure 29: A block diagram illustrating an optional target detection system.

Page 81

Claims (1)

536637 VI. Application for Patent Scope 1. A positioning and data integration method includes the following steps: (a) GPS processing and receiving GPS measurements, including pseudorange, carrier phase, Doppler frequency shift from the Global Positioning System processor, and At time, they are sent to the navigation processing board of the central navigation and control processor; (b) receiving inertial measurements from the inertial measurement component, including the body angular rate and specific force, and converting them into the body acceleration and Rotate the digital quantities and send them to the navigation processing board and control board through the common bus; (c) I NS processing using the inertial navigation system I NS processor; (d) mixing the output of the INS processor in the Kalman filter And GPS measurements; (e) feedback Kalman filter output to the I NS processor to modify the INS navigation solution; (f) inject speed and acceleration data from the INS processor into the GPS processor's signal processor for Assist GPS satellite signal code and carrier phase tracking; (i) output the GPS signal processor, INS processing The output, the Kalman filter output, is injected into the carrier phase ambiguity resolution module to determine the GPS phase carrier phase ambiguity number; (j) The carrier phase phase ambiguity module is output to the Kalman filter To further improve the positioning accuracy; (k) output the navigation data: platform speed, position, altitude, heading, and time from the INS processor to the controller via a common bus. 2. A positioning and data integration method includes the following steps: Page 82 536637 VI. Patent application scope (a) GPS processing and receiving GPS measurements, including pseudorange, Doppler shift, and time from the GPS processor; they are sent to the navigation processing board; (b ) Receive inertial measurements from inertial measurement components, including body angular rate and specific force, convert them into digital quantities of body acceleration and rotation through the IMU interface and processing board, and send them to the navigation processing board and control board through the common bus (C) INS processing by INS processor; (d) mixing INS processor output and GPS measurement in Kalman filter; (e) feedback Kalman filter output to INS processor to modify INS navigation solution; (g) Output navigation data: platform speed, position, altitude, heading, and time from the INS processor to the control board via the common bus; (h) Inject speed and acceleration data from the INS processor to the GPS processor signal processing Device for assisting GPS satellite signal code followers. 3. A positioning and data integration method includes the following steps: (a) GPS processing and receiving GPS measurements, including position, speed, and time from the global positioning system processor; they are sent to the navigation processing board; (b) receiving Inertial measurements from inertial measurement components, including body angular rate and specific force, are converted into digital quantities of body acceleration and rotation through the IMU interface and processing board, and sent to the navigation through the common bus Page 83 536637 VI. Patent application processing board and control board; (c) INS processing with INS processor; (d) Mixing INS processor output and GPS measurement in Kalman filter; (e) Feedback Karl The Mann filter is output to the I NS processor to modify the INS navigation solution; σ (f) outputs the navigation data, platform speed, position, and altitude 'heading and time from the NS processor to the controller via the common bus. 4. A navigation and control box includes: an inertial measurement unit (IMU) for providing inertial measurement, including carrier rotation angular rate and specific force; a jade ball positioning system (GPS) processor for providing ^ ps measurement, including pseudorange Carrier phase and Doppler frequency; a Chinese navigation and control processor is used to process the GPS measurement, the inertial measurement 'and the carrier height measurement to derive the navigation solution, the central navigation and control processor and the GPS processor Connected, connected to the IMU, and connected to a data bus; the central navigation and control processor includes a MlJ interface and pre-processing board, a navigation processing board, a shared memory card for storing data, and a bus arbiter for monitoring And manages a common bus and a control panel for controlling the data flow; ... wherein the navigation processing board is connected to the GPS processor and a data bus, the data bus is used to receive the GPS measurement; the IMU An interface and a pre-processing board are connected to the IMU for receiving the inertial measurement from the 011 'and converting the inertial measurement into a carrier acceleration and Page 84 536637 VI. The digital quantity of the patent application scope rotation angular rate, and the acceleration and rotation angular rate of the carrier are sent to the navigation processing board and the control processing board; the bus interface is connected to the control board and the data bus Between those. 1ϋ 85 page 85