JP2001502802A - Gps/irsグローバル位置決定方法およびインテグリティ損失の対策を講じた装置 - Google Patents
Gps/irsグローバル位置決定方法およびインテグリティ損失の対策を講じた装置Info
- Publication number
- JP2001502802A JP2001502802A JP10519385A JP51938598A JP2001502802A JP 2001502802 A JP2001502802 A JP 2001502802A JP 10519385 A JP10519385 A JP 10519385A JP 51938598 A JP51938598 A JP 51938598A JP 2001502802 A JP2001502802 A JP 2001502802A
- Authority
- JP
- Japan
- Prior art keywords
- gps
- irs
- information
- integrity
- speed
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.ユーザ位置を決定するための慣性レファレンス・システムと全地球衛星測位 システムの組み合わせであって、 慣性センサの出力情報から導出されたIRS位置およびIRS速度情報を含む 慣性レファレンス情報を報告するための前記慣性センサを採用する慣性レファレ ンス・システムと、 複数の衛星から送信される信号の衛星情報から導出された結果として得られる GPS位置および結果として得られるGPS速度情報を含むGPS位置ソリュー ションを与える全地球衛星測位システムの受信機と、 前記衛星情報信号を送信する少なくとも前記の複数の衛星の数に応答して、そ の数が少なくとも1つのインテグリティ限界値を計算するのに十分であるインテ グリティ時間間隔ではなく、その数が前記GPSソリューションの確度と関連付 けられた前記の少なくとも1つのインテグリティ限界値を計算するのに必要な数 を下回るとき、非可用性時間間隔を示す検証手段と、 前記IRS速度情報および前記の結果として得られるGPS速度情報の関数と して前記IRS慣性情報に関連付けられた速度および加速度推定誤差を決定する ための誤差エスティメータ手段と、 前記非可用性時間間隔にその非可用性時間間隔の開始時に発生する前記速度お よび加速度推定誤差の関数として前記非可用性時間間隔の開始時から徒過した時 間を累積してユーザ位置およびIRS位置の第1の推定位置を決定するための滑 降位置エスティメータ手段と を含むユーザ位置を決定する全地球衛星測位システムと組み合わせた慣性レファ レンス・システム。 2.少なくとも前記IRS位置および慣性情報および前記の結果として得られる GPS位置と結果として得られるGPS速度情報の関数としてユーザ位置の第2 の推定位置を決定するためのIRS/GPS位置ソリューション決定手段と、 その出力情報としてインテグリティ時間間隔内の時間について前記の第2の推 定位置を報告し、非可用性時間間隔内の時間について前記の第1の推定位置を報 告する位置セレクタ手段を含む請求項1に記載の全地球衛星測位システムと組み 合わせた慣性レファレンス・システム。 3.前記誤差エスティメータ手段がその入力情報として前記の結果として得られ るGPS速度と前記IRS速度の対応する成分の差を備えた二次フィルタを具備 する請求項1に記載の慣性レファレンス・システムと全地球衛星測位システムの 組み合わせ。 4.前記誤差エスティメータ手段が(i)前記の結果として得られるGPS速度 と前記IRS速度の北方向成分間の差を入力情報とし、対応する北方向の速度と 加速度バイアス値を出力情報とする二次フィルタと、(ii)前記の結果として 得られるGPS速度と前記IRS速度の東方向の成分間の差を入力情報とし、対 応する東方向の速度と加速度バイアス値を出力情報とする二次フィルタを含む請 求項3に記載の慣性レファレンス・システムと全地球衛星測位システムの組み合 わせ。 5.慣性レファレンス・システムとグローバルな全地球衛星測位システムの受信 機を備えたシステムにおいて、インテグリティ損失後に位置誤差を計算する方法 であって、 A.インテグリティ損失の直前の時間における位置および速度を示す全地球衛 星測位システムの値を決定するステップと、 B.位置の慣性レファレンス・システムの値を決定するステップと、 C.ステップBの値を時間と共に変動する知られている誤差値を使って修正す るステップと、 D.インテグリティ損失以来の時間にわたって全地球衛星測位システムで得た 速度で計算された位置誤差値を使ってステップCの値を調整するステップ とを含む方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/735,764 US5923286A (en) | 1996-10-23 | 1996-10-23 | GPS/IRS global position determination method and apparatus with integrity loss provisions |
US08/735,764 | 1996-10-23 | ||
PCT/US1997/017731 WO1998018016A1 (en) | 1996-10-23 | 1997-10-02 | Gps/irs global position determination method and apparatus with integrity loss provisions |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2001502802A true JP2001502802A (ja) | 2001-02-27 |
JP4014642B2 JP4014642B2 (ja) | 2007-11-28 |
Family
ID=24957088
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP51938598A Expired - Fee Related JP4014642B2 (ja) | 1996-10-23 | 1997-10-02 | Gps/irsグローバル位置決定方法およびインテグリティ損失の対策を講じた装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US5923286A (ja) |
EP (1) | EP0934535B1 (ja) |
JP (1) | JP4014642B2 (ja) |
CA (1) | CA2250196C (ja) |
DE (1) | DE69703893T2 (ja) |
WO (1) | WO1998018016A1 (ja) |
Cited By (3)
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JP2003536082A (ja) * | 2000-06-06 | 2003-12-02 | リットン システムズ インコーポレイテッド | 3d自律型インテグリティ監視外挿航法 |
JP2010506156A (ja) * | 2006-10-06 | 2010-02-25 | テールズ | 完全性監視付きハイブリッドins/gnssシステムおよび完全性監視方法 |
JP2021503600A (ja) * | 2017-11-17 | 2021-02-12 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh | 自動車の位置を特定するための方法 |
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- 1997-10-02 JP JP51938598A patent/JP4014642B2/ja not_active Expired - Fee Related
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Cited By (5)
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JP2003536082A (ja) * | 2000-06-06 | 2003-12-02 | リットン システムズ インコーポレイテッド | 3d自律型インテグリティ監視外挿航法 |
JP4832703B2 (ja) * | 2000-06-06 | 2011-12-07 | ノースロップ グラマン ガイダンス アンド エレクトロニクス カンパニー インコーポレイテッド | 3d自律型インテグリティ監視外挿航法 |
JP2010506156A (ja) * | 2006-10-06 | 2010-02-25 | テールズ | 完全性監視付きハイブリッドins/gnssシステムおよび完全性監視方法 |
JP2021503600A (ja) * | 2017-11-17 | 2021-02-12 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh | 自動車の位置を特定するための方法 |
JP7060689B2 (ja) | 2017-11-17 | 2022-04-26 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 自動車の位置を特定するための方法 |
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US5923286A (en) | 1999-07-13 |
CA2250196C (en) | 2005-05-03 |
JP4014642B2 (ja) | 2007-11-28 |
DE69703893T2 (de) | 2001-04-26 |
EP0934535A1 (en) | 1999-08-11 |
DE69703893D1 (de) | 2001-02-15 |
WO1998018016A1 (en) | 1998-04-30 |
CA2250196A1 (en) | 1998-04-30 |
EP0934535B1 (en) | 2001-01-10 |
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