BRPI0515452A - processamento de delta de distáncia acumulado de gps melhorado para aplicações de navegação - Google Patents

processamento de delta de distáncia acumulado de gps melhorado para aplicações de navegação

Info

Publication number
BRPI0515452A
BRPI0515452A BRPI0515452-9A BRPI0515452A BRPI0515452A BR PI0515452 A BRPI0515452 A BR PI0515452A BR PI0515452 A BRPI0515452 A BR PI0515452A BR PI0515452 A BRPI0515452 A BR PI0515452A
Authority
BR
Brazil
Prior art keywords
adr
navigation
measurements
gps
accurate
Prior art date
Application number
BRPI0515452-9A
Other languages
English (en)
Inventor
Alexandre Draganov
Original Assignee
Itt Mfg Enterprises Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Itt Mfg Enterprises Inc filed Critical Itt Mfg Enterprises Inc
Publication of BRPI0515452A publication Critical patent/BRPI0515452A/pt
Publication of BRPI0515452B1 publication Critical patent/BRPI0515452B1/pt

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Burglar Alarm Systems (AREA)

Abstract

PROCESSAMENTO DE DELTA DE DISTáNCIA ACUMULADO DE GPS MELHORADO PARA APLICAçõES DE NAVEGAçãO. Técnicas para navegação por GPS usadas para a determinação da posição e da velocidade de um objeto em movimento. Medições de pseudodistância (PR) e medições de deita de distância acumulada (ADR) são feitas no objeto a partir de sinais de GPS recebidos. Diferenças são computadas entre medições de ADR que são separadas por um intervalo de tempo que é maior do que um intervalo de tempo entre medições de ADR consecutivas. Os parâmetros de navegação (por exemplo, posição, velocidade e relógio) são estimados a partir das medições de PR e das diferenças de ADR. As equações de medição de ADR estabelecidas aqui são formuladas de uma forma muito mais acurada, de modo que o intervalo de tempo entre as medições de ADR usado para a computação de uma diferença de ADR possa ser muito maior do que aquele usado para as técnicas atuais de diferenciação de ADR em aplicações de navegação por GPS. Conseqüentemente, as diferenças de ADR são mais acuradas, o que se traduz em uma solução de navegação muito mais acurada. Além disso, a técnica de diferenciação de ADR contribui para encurtar os tempos de convergência do processamento de filtro de Kalman, e, desse modo, melhorar a acurácia da navegação de uma nave espacial. Também são providas técnicas para extensão destes algoritmos de processamento de ADR altamente acurados para integração de aplicações de navegação por GPS/IMU, onde os dados de IMU são usados em um modelo de propagação acurado para propagação do vetor de estado.
BRPI0515452A 2004-09-17 2005-08-10 método de determinação de parâmetros de navegação de um objeto em movimento BRPI0515452B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US61060904P 2004-09-17 2004-09-17
US11/129,423 US7490008B2 (en) 2004-09-17 2005-05-16 GPS accumulated delta range processing for navigation applications
PCT/US2005/028537 WO2006036321A1 (en) 2004-09-17 2005-08-10 Improved gps accumulated delta range processing for navigation applications

Publications (2)

Publication Number Publication Date
BRPI0515452A true BRPI0515452A (pt) 2008-07-22
BRPI0515452B1 BRPI0515452B1 (pt) 2018-12-11

Family

ID=35515678

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI0515452A BRPI0515452B1 (pt) 2004-09-17 2005-08-10 método de determinação de parâmetros de navegação de um objeto em movimento

Country Status (10)

Country Link
US (1) US7490008B2 (pt)
EP (1) EP1792201B1 (pt)
JP (1) JP4789216B2 (pt)
KR (1) KR101209667B1 (pt)
AT (1) ATE414916T1 (pt)
AU (1) AU2005290192B2 (pt)
BR (1) BRPI0515452B1 (pt)
CA (1) CA2580539C (pt)
DE (1) DE602005011158D1 (pt)
WO (1) WO2006036321A1 (pt)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2888643B1 (fr) * 2005-07-18 2009-09-25 Airbus France Sas Procede et dispositif pour determiner la position au sol d'un mobile, particulier d'un avion sur un aeroport
US7535420B2 (en) * 2005-12-22 2009-05-19 L-3 Communications Integrated Systems L.P. Method and apparatus for signal tracking utilizing universal algorithm
US7551138B2 (en) * 2005-12-22 2009-06-23 L3 Communications Integrated Systems, L.P. Method and apparatus for signal tracking utilizing universal algorithm
US7489271B2 (en) * 2006-03-22 2009-02-10 Lockheed Martin Corporation Optimized receive antenna and system for precision GPS-at-GEO navigation
US7612712B2 (en) * 2006-04-25 2009-11-03 Rx Networks Inc. Distributed orbit modeling and propagation method for a predicted and real-time assisted GPS system
US8125382B2 (en) * 2006-04-25 2012-02-28 Rx Networks Inc. Autonomous orbit propagation system and method
GB2440572A (en) * 2006-08-01 2008-02-06 Roke Manor Research Method and apparatus for controlling a clock and frequency source at a receiver
US7564406B2 (en) * 2006-11-10 2009-07-21 Sirf Technology, Inc. Method and apparatus in standalone positioning without broadcast ephemeris
US7855678B2 (en) * 2007-05-16 2010-12-21 Trimble Navigation Limited Post-mission high accuracy position and orientation system
US20090093959A1 (en) * 2007-10-04 2009-04-09 Trimble Navigation Limited Real-time high accuracy position and orientation system
JP2009229065A (ja) * 2008-03-19 2009-10-08 Toyota Motor Corp 移動体用測位装置
US20090299929A1 (en) * 2008-05-30 2009-12-03 Robert Kozma Methods of improved learning in simultaneous recurrent neural networks
US8165728B2 (en) * 2008-08-19 2012-04-24 The United States Of America As Represented By The Secretary Of The Navy Method and system for providing a GPS-based position
KR101384487B1 (ko) 2010-05-14 2014-04-10 한국전자통신연구원 위성항법 수신기의 의사거리 검증 방법 및 장치
WO2012021760A2 (en) * 2010-08-12 2012-02-16 The Government Of The United States Of America As Represented By The Secretary Of The Navy Improved orbit covariance estimation and analysis (ocean) system and method
RU2460970C1 (ru) * 2011-04-04 2012-09-10 Федеральное государственное унитарное предприятие "Центральный научно-исследовательский институт машиностроения" (ФГУП ЦНИИмаш) Способ определения эфемеридной информации в аппаратуре потребителя и устройство для его осуществления
EP2555017B1 (en) * 2011-08-03 2017-10-04 Harman Becker Automotive Systems GmbH Vehicle navigation on the basis of satellite positioning data and vehicle sensor data
RU2474838C1 (ru) * 2011-08-19 2013-02-10 Открытое акционерное общество "Российская корпорация ракетно-космического приборостроения и информационных систем" (ОАО "Российские космические системы") Электронное устройство оперативного восстановления измерений псевдодальности
JP5977040B2 (ja) * 2012-02-17 2016-08-24 Ｎｅｃスペーステクノロジー株式会社 軌道位置推定方法、軌道位置推定装置及び軌道位置推定プログラム
US8457891B1 (en) 2012-06-19 2013-06-04 Honeywell International Inc. Systems and methods for compensating nonlinearities in a navigational model
US9128183B2 (en) * 2012-11-29 2015-09-08 Caterpillar Inc. Machine navigation system utilizing scale factor adjustment
US9733363B2 (en) * 2013-09-30 2017-08-15 Intel IP Corporation Filtering for global positioning system (GPS) receivers
US9182236B2 (en) * 2013-10-25 2015-11-10 Novatel Inc. System for post processing GNSS/INS measurement data and camera image data
US10488505B2 (en) * 2014-05-30 2019-11-26 The Boeing Company Positioning in indoor locations and other GPS-denied environments
CN104915966B (zh) * 2015-05-08 2018-02-09 上海交通大学 基于卡尔曼滤波的帧率上变换运动估计方法及系统
WO2017017675A1 (en) * 2015-07-28 2017-02-02 Margolin Joshua Multi-rotor uav flight control method and system
EP3293549B1 (en) * 2016-09-09 2020-03-11 Trimble Inc. Advanced navigation satellite system positioning method and system using delayed precise information
US11747487B2 (en) * 2018-03-26 2023-09-05 Texas Instruments Incorporated GNSS receiver clock frequency drift detection
KR101982181B1 (ko) * 2018-08-30 2019-05-24 국방과학연구소 관성항법데이터를 이용한 비행정보 보정 장치 및 방법
CN111288993B (zh) * 2018-12-10 2023-12-05 北京京东尚科信息技术有限公司 导航处理方法、装置、导航设备及存储介质

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4646096A (en) * 1984-10-05 1987-02-24 Litton Systems, Inc. Enhanced global positioning system Delta-Range processing
US5041833A (en) * 1988-03-28 1991-08-20 Stanford Telecommunications, Inc. Precise satellite ranging and timing system using pseudo-noise bandwidth synthesis
US5109346A (en) * 1990-02-01 1992-04-28 Microcosm, Inc. Autonomous spacecraft navigation system
US5430657A (en) * 1992-10-20 1995-07-04 Caterpillar Inc. Method and apparatus for predicting the position of a satellite in a satellite based navigation system
US5430654A (en) * 1992-12-01 1995-07-04 Caterpillar Inc. Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system
US5606506A (en) * 1993-04-05 1997-02-25 Caterpillar Inc. Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system using velocity data from an inertial reference unit
US6175806B1 (en) * 1993-07-16 2001-01-16 Caterpillar Inc. Method and apparatus for detecting cycle slips in navigation signals received at a receiver from a satellite-based navigation system
US5477458A (en) * 1994-01-03 1995-12-19 Trimble Navigation Limited Network for carrier phase differential GPS corrections
US5748651A (en) * 1995-05-05 1998-05-05 Trumble Navigation Limited Optimum utilization of pseudorange and range rate corrections by SATPS receiver
US5726659A (en) * 1995-09-21 1998-03-10 Stanford University Multipath calibration in GPS pseudorange measurements
US5787384A (en) * 1995-11-22 1998-07-28 E-Systems, Inc. Apparatus and method for determining velocity of a platform
US5935196A (en) * 1997-06-11 1999-08-10 Itt Manufacturing Enterprises Technique for the use of GPS for high orbiting satellites
US6608589B1 (en) * 1999-04-21 2003-08-19 The Johns Hopkins University Autonomous satellite navigation system
US6134484A (en) * 2000-01-28 2000-10-17 Motorola, Inc. Method and apparatus for maintaining the integrity of spacecraft based time and position using GPS
US6268823B1 (en) * 2000-03-08 2001-07-31 Trimble Navigation Ltd Unconventional range navigation system with efficient update process
US20020008661A1 (en) * 2000-07-20 2002-01-24 Mccall Hiram Micro integrated global positioning system/inertial measurement unit system
US6420999B1 (en) * 2000-10-26 2002-07-16 Qualcomm, Inc. Method and apparatus for determining an error estimate in a hybrid position determination system
US6622091B2 (en) * 2001-05-11 2003-09-16 Fibersense Technology Corporation Method and system for calibrating an IG/GP navigational system
US6664923B1 (en) * 2002-09-24 2003-12-16 Novatel, Inc. Position and velocity Kalman filter for use with global navigation satelite system receivers

Also Published As

Publication number Publication date
AU2005290192A1 (en) 2006-04-06
CA2580539C (en) 2011-08-02
EP1792201B1 (en) 2008-11-19
EP1792201A1 (en) 2007-06-06
US20060195262A1 (en) 2006-08-31
CA2580539A1 (en) 2006-04-06
ATE414916T1 (de) 2008-12-15
JP4789216B2 (ja) 2011-10-12
WO2006036321A1 (en) 2006-04-06
DE602005011158D1 (de) 2009-01-02
US7490008B2 (en) 2009-02-10
KR20070059105A (ko) 2007-06-11
BRPI0515452B1 (pt) 2018-12-11
AU2005290192B2 (en) 2009-04-09
JP2008513775A (ja) 2008-05-01
KR101209667B1 (ko) 2012-12-10

Similar Documents

Publication Publication Date Title
BRPI0515452A (pt) processamento de delta de distáncia acumulado de gps melhorado para aplicações de navegação
Claus et al. Closed‐loop one‐way‐travel‐time navigation using low‐grade odometry for autonomous underwater vehicles
CN106225786B (zh) 一种自适应的行人导航系统零速区间检测方法
BRPI0811192A8 (pt) Método e dispositivo para executar resolução de ambigüidade inteira em um sistema de satélite de navegação global, e, sistema de posicionamento ou navegação.
ATE461461T1 (de) Positions- und geschwindigkeits-kalman-filter in empfängern für ein globales satellitengestützes navigationssystem
NO20071176L (no) Dynamisk posisjonering av marinefartoyer
ATE500928T1 (de) Datenverarbeitungsverfahren zur bewegungserfassung einer gelenkstruktur
Le Scornec et al. Foot-mounted pedestrian navigation reference with tightly coupled GNSS carrier phases, inertial and magnetic data
WO2007089767A3 (en) A method for combined use of a local positioning system, a local rtk system, and a regional, wide- area, or global carrier-phase positioning system
BRPI0417873B8 (pt) Métodos para determinar um valor de ambiguidade flutuante correspondente a uma medição de fase de portadora e para posicionar ou navegar um objeto associado a ambos um receptor de referência local e um sistema de posicionamento por satélite de área extensa, e, receptor de navegação por satélite
DE602004023651D1 (de) Entfernungsmessung mit einer auf differenzen basierenden schätztechnik
WO2004046748A3 (en) All-weather precision guidance and navigation system
EP1139061A3 (en) System and method for improving the accuracy of pressure altitude determinations in an inertial navigation system
BRPI0519189A2 (pt) mÉtodo para mediÇço de volumes das fases totais em fluxo de multifases em tubulaÇÕes
CN108592907A (zh) 一种基于双向滤波平滑技术的准实时步进式行人导航方法
He et al. A hybrid indoor positioning system based on UWB and inertial navigation
Shatilov et al. A tightly-coupled GNSS/IMU integration algorithm for multi-purpose INS
CN104034328B (zh) 一种基于滤波方法和曲线拟合方法相结合的协同导航方法
CN114136323B (zh) 基于运动补偿下tdoa量测的auv协同导航方法
Zhaopeng et al. Online estimation of DVL misalignment angle in SINS/DVL integrated navigation system
EA201101484A1 (ru) Способ угловой ориентации объекта по сигналам спутниковых радионавигационных систем
Waegli et al. Assessment of GPS/MEMS-IMU integration performance in ski racing
Li et al. An enhanced tightly-coupled integrated navigation approach using phase-derived position increment (PDPI) measurement
Hansen et al. Tightly coupled integrated inertial and real-time-kinematic positioning approach using nonlinear observer
Oszczak et al. The algorithm for determining the coordinates of a point in three-dimensional space by using the auxiliary point

Legal Events

Date Code Title Description
B25D Requested change of name of applicant approved

Owner name: ITT MANUFACTURING ENTERPRISES LLC (US)

B25A Requested transfer of rights approved

Owner name: EXELIS INC. (US)

B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 11/12/2018, OBSERVADAS AS CONDICOES LEGAIS.

B21F Lapse acc. art. 78, item iv - on non-payment of the annual fees in time

Free format text: REFERENTE A 18A ANUIDADE.

B24J Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)

Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2735 DE 06-06-2023 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.