TW576928B - Process and system of coupled real-time GPS/IMU simulation with differential GPS - Google Patents

Abstract

A coupled real-time GPS/IMU simulation method with differential GPS includes the steps of receiving real-time trajectory data from a 6DOF trajectory generator and generating GPS simulated measurements (rover and reference) and inertial measurement unit simulated electronic signals based on the real GPS models and IMU models, respectively, and injecting those simulated data into an on-board integrated GPS/INS (global positioning system/inertial navigation system). Therefore, the coupled real-time GPS/IMU simulation method with differential GPS can be applied to evaluate the performance of the integrated GPS/INS in the area of high accuracy positioning in addition to the regular evaluation (one receiver mode).

Description

576928 V. Description of the invention (1) Name: Coupling index of real-time GPS / inertial measurement component and differential GPS simulation method and system-related applications: This is a regular application with application number 6 0/2 1 2 8 86, the file date is June 19, 2000. Field of the invention: The invention is related to the simulation of GPS and receiver of global positioning system and the simulation of gyroscope and accelerometer (IMU). In particular, it is related to the simulation of a fully integrated real-time differential GPS / IMU combined positioning system with hardware in the ground test loop. Test on the test) The real vehicle is tested in the real ship room, the tester is implemented, and the flight test is performed, such as measuring the C-plane, moving the plane into the ground, or sailing: the flight guide is right and the position is determined. The ball is full. The question was quietly asked about the difficult body Aw L, CiSiLJ. The cause of the problem was not resolved, and many attempts were made to test the ball's full set of the system's system position when the ground exists ^ Ιπτ. The number and letter are electrical appliances. The sensation of metamorphosis and transmission of inertial energy is inductive, and the combination of sexual navigation and inertial navigation is consistent with this nature, and the static movement of the system is combined with the operation of the system, the habit of sex and transposition. The full number of the state jdjJaJ of the number ball is measured. The shipment can be installed or not, and the machine is not received. When the connection is made, the P G body is compatible.藕 The test will be fine. And evaluation can evaluate the behavior-PS

1

Page 5 576928 V. Description of the invention (2) A series of dynamic tests are required. Considering the test cost, the cost of testing the full-coupling positioning system on the ground is low. If inertial sensors, GPS receivers, and GPS and inertial combination systems are mounted on ground moving bodies, such as vehicles, low-cost dynamic tests can still be performed through actual ground motion. But if the moving body is an aircraft, the cost and labor required for actual flight testing will be extremely expensive. It is necessary to subject the main components of the gyroscope, accelerometer, and GPS receiver to consistent with the actual task. Simulation testing is a reliable test that meets low cost and short time. The direct method for generating dynamic inertial measurements is to place the actual inertial sensor on a motion test platform. This method is reliable, but has many disadvantages, which are described as follows: 1. A large number of test equipment is needed 2. The running cost is very high 3. The dynamic range is limited 4. The data collection is inconvenient during the test 5. It cannot be used to generate dynamic GPS reception Machine to measure the value. | Some GPS Signal Simulation Systems Generate Spread Spectrum Wireless

丨 Electrical radio frequency (RF) simulation signals are used to test GPS receivers. The wireless i electric RF output simulates GPS signals transmitted by GPS satellites. GPS satellites modulate random noise codes and navigation data, such as ephemeris, clock parameters, and atmospheric data, at L-band carrier frequencies (Lll. 5 7 5 42 GHz and L2 1. 2 2 7 0 GHz). Simulation signals have

Page 6 576928 5. Description of the invention (3) '· The same amplitude and signal-to-noise ratio, so that the simulated RF signal can be directly injected into the GPS receiver through the antenna port. In order to simulate actual GPS measurements, the 6D0F tracking generator provides real-time tracking data, real-time GPS satellite constellation simulation, SA simulation, simulation of IF signals and GPS tracking loops in order to generate simulated GPS measurement data based on the GPS model and receiver model. (Pseudorange, phase, and Doppler shift) and output. At the same time, the 6 DOF track is used to generate the output of the dynamic gyroscope and accelerometer according to the corresponding measurement and error models. The simulated measurement data is input to a fully integrated positioning system. Therefore, the use of dynamic physical simulation can evaluate a fully coupled positioning system in the laboratory. This invention is an extension of the US patent (Coupled Real-Time Simulation Method for Positioning System). The simulation method is based on a GPS receiver. Using pseudorange measurement, the Kalman filter estimates the position of a single receiver with an accuracy of 100 meters. Therefore, the previous patent can only estimate a low-precision fully coupled positioning system. Object of the invention: The object of the present invention is to use a Kalman filter to estimate the position of a single receiver, and a simulation of differential GPS based on two receivers is one of its characteristics. Therefore, the application range is increased, and the high-precision positioning of the coupled positioning system can also be evaluated. Another object of the present invention is to apply the differential GPS positioning to the total steal position system to test the reliability of the high-precision positioning system. Using simulation data such as station and mobile station, given the station position, the mobile station position is estimated using a differential parallel Kalman filter. The input of the differential filter is the phase of the station and mobile station

Page 7 576928 V. Description of the invention (4) Measurement. Another object of the present invention is to provide a reliable real-time simulation dynamic GPS and inertial measurement evaluation fully coupled positioning system. This makes the subsequent real flight tests safer and greatly reduces the number of real flight tests. The simulation method has low running and development costs because no expensive moving equipment is required in the test system. Maintenance of the test system has also been simplified. Yet another object of the present invention is to generate a mobile station position and a station position based on real-time trajectory data of a six-degree-of-freedom (6D0F) track generator, and generate a dynamic global positioning system measurement value according to a global positioning system model and a receiver model. To simulate actual GPS measurements, the 6D0F tracking generator provides real-time tracking data, real-time GPS satellite constellation simulation, SA simulation, simulation of IF signals and GPS tracking loops in order to generate simulated GPS measurement data based on GPS models and receiver models ( Pseudorange, phase, and Doppler shift). Another object of the present invention is based on a gyroscope measurement model and error model! And a six-degree-of-freedom (6D0F) trajectory, the IMU simulation method generates dynamic inertial measurements and

I | GPS simulation measurement. Another object of the present invention is to replace the real-world mission track with a 6 DOF track, and the full-coupling positioning system can be evaluated in different situations. | This method allows an unlimited number of dynamic tests of fully coupled positioning systems. Another object of the present invention is to support the development, debugging and integration of coupled real-time simulation systems. Therefore, the coupled real-time simulation system works normally in practical applications. The present invention focuses on the simulation of the gyroscope, accelerometer, and coupling system. Another object of the present invention is at least one computer as a coupled real-time

Page 8 576928 V. Description of the invention (5) 1 Computing platform of simulation system. Simulate GPS and inertial measurements with a computer. For two computers, one simulates G PS and the other simulates a gyroscope and accelerometer. The inertial sensor and global positioning system output via RS-232 serial interface. Description of drawing number: 10-six degrees of freedom trajectory generator 20-real-time GPS / IMU simulation system 21-Ethernet network controller 22-GPS / IMU simulation computer 23- GPS / IMU simulation interface board 24_connector 24— 2-string Line signal conditioner 24 — 3-connector 2 5- synchronization module 30-combined GPS / INS system 31-GPS receiver 32-IMU device 3 3-GPS / INS navigation computer 40-data acquisition and performance evaluation system 5 0 _ Input signal simulation module 5 1 _Noise generator 5 2-Carrier generator 53-Code generator 54-First multiplier 55-Second multiplier 6 0-Tracking loop and signal processing simulation module 6 5-Code generator 6 6-Signal processing module 7 1-Double-difference wide-channel fuzzy solution module 7 2-Fuzzy region determination module 7 3-Least square search estimator 7 4-Position calculation module 7 5-Secondary double-difference wide-channel fuzzy solution module 7 6-Ultra-wide channel technology module 77-L1 and L2 fuzzy solution module 211-Ephemeris database 212-GPS satellite constellation simulation module 2 13-User initial position module 2 14-GPS satellite prediction module

Page 9 576928 V. Description of the invention (6) 21 5-GPS error model 2 1 7-Raw data generation module 2 1 8-Interference model and effect simulation 221-Differential GPS simulation module 231-GPS input / output interface 2 1 6 1-Switch 2 1 6 3-Kalman Filter 2165-Weight Library 2172-GPS Receiver 2 2 2 2-Gyroscope Error Model 2224-Accelerometer Error Model 2 3 2 — 1-Analog Signal Interface 2 3 2-3 -Pulse signal interface 2 3 2 — 1 1-Bus interface circuit 232 — 13-Interrupt interface 2 1 6-Estimator 2 1 9-Data format module module 2 2 2-IMU simulation module 2 3 2-IMU input / output interface 2 1 6 2 _Differential filter 2 1 6 4-Kalman filter 2171-Mobile GPS receiver 2 2 2 1-Gyro measurement model 2 2 2 3-Accelerometer measurement model 2 2 2 5-IMU signal synthesis module 2 3 2-2-Serial signal interface 232 — 4- Parallel digital signal interface 2 3 2-1 2-DMA interface 2 3 2 — 1 6-Sequence circuit 2 3 2 — 1 4-First-in-first-out (FIFO) circuit 2 3 2-1 5-Multi-channel DA conversion circuit 232 — 21 — Bus interface circuit 232 — 22 — Interrupt interface circuit 232 — 23 — Logic circuit 232 —24-RS — 485 interface circuit 232 — 31 — Bus interface circuit 232 — 32 — Interrupt interface 232 — 33 — Multi-channel digital frequency conversion circuit 232 — 41a — First set of interrupt interfaces 232 — 41b — Second set of interrupt interfaces 2 3 2 — 4 2 a-bus interface circuit 2 3 2-4 2 b bus interface circuit

Page 10 576928 V. Description of the invention (7). Detailed description: The present invention relates to a method and system for coupling real-time global positioning system and inertial measurement unit (GPS / IMU) simulation. This technology involves IM measurement modeling, IMU error modeling, GPS receiver modeling, GPS error modeling, and simulation data formatting. During the physical test, a six-degree-of-freedom track generator drives the system to generate dynamic IMlJ electrical signals and GPS measurements. These simulation data and signals are injected into a combined Global Positioning System and Inertial Navigation System (GPS / INS). The application of the technology of the present invention has the following advantages: (1) real-time simulation of dynamic [M U measured values with software; (2) real-time simulation with software to analyze receiver behavior in a dynamic and jamming environment;

(3) Simultaneous simulation of GPS and IMU with synchronous technology; (4) Simulate differential GPS to evaluate high-precision applications of GPS / INS system; (5) Combine a six-degree-of-freedom track generator with unlimited dynamic IMU sensors GPS receiver simulation capability; (6) Provide low-cost GPS / INS integrated navigation system test methods, and low maintenance costs.

The invention can truly solve the problems of the combined differential GPS / INS navigation system on a moving body in performing ground tests and physical tests. In the ground test 'because the moving body is stationary, the IMlJ in the navigation system cannot generate electrical signals' because it is a self-contained device. Similarly, the GPS receiver cannot output dynamic GPS observations, mainly because it does not feel a motion trajectory. In order to perform a dynamic test of a combined GPS / INS navigation system on the ground, the present invention provides a coupled real-time IMU and GPS simulation method and system. This system is activated and installed 576928 V. Description of the invention (8) '' The combined GPS / INS system for moving bodies, predicts and evaluates the dynamic performance of the GPS / INS system by replacing the IMU and GPS receiver with a coupled GPS / IMU simulation system. This method makes subsequent real flight tests safer, and will greatly reduce the number of flights and the corresponding test costs. Although the present invention is mainly for testing GPS / INS navigation systems, it can also be used to simulate inertial sensors in other areas where inertial sensors are required. The invention is based on advanced real-time simulation, computer and electronic technology. The GPS model, differential GPS model, and IMU model are built into the host computer. The GPS model consists of a signal generation module and two GPS receiver models. The signal generator module is used to simulate the IF GPS signal. The first GPS receiver model is a simplified model without tracking loop simulation, and the second GPS receiver model is a complete model and contains the correlator model on the tracking loop. Both can simulate the dynamic performance and anti-jamming performance of GPS receivers. The differential GPS model provides online ambiguity calculations measured by two GPS receivers, one of which is mounted on a carrier and the other is fixed as a station. The invention simulates a mobile station and a GPS receiver such as a station capable of testing a differential GPS \ IMU navigation system. The IMU model includes a gyro model, an acceleration model, and a set of gyro accelerometer error models. Synchronization is a key issue in real-time GPS / IMU simulation systems. It can be solved by the coupling method of this patent. For a case where the GPS and I IMU are simulated by a computer, a six-degree-of-freedom tracking data trigger and data output synchronization module is used to achieve synchronization. The real-time tracking data φ from the six-degree-of-freedom tracking generator simultaneously drives the G PS simulation module and the I M U simulation module, that is, the same tracking data corresponding to a moment is used for the GPS satellite constellation model and the GPS receiver.

Page 12 576928 V. Description of the invention (9) The model calculates GPS measurement values. It is also used to calculate IMU measurement values based on IMU measurement models and error models, that is, gyroscope models, accelerometer models, and their error models. These simulated GPS and IMU data are calculated by only one computer.

The calculation can either calculate the IMU data first or the GPS measurement data first. Either way is applicable to the coupled real-time simulation method of the present invention. To calculate first, you must wait for the second simulation data, that is, I MU data or GPS measurement data. The synchronization software module adjusts the simulated IMU data and GPS measurement data to output in a synchronized manner. As shown in the second figure, the simulated GPS measurement data is sent through the GPS input / output interface 231, and the simulated IMU data is sent through the IMU wheel input / output interface 2 3 2. The simulated IMU data and GPS measurement data are placed in a buffer waiting for a trigger signal. The trigger signal is provided by the computer clock or from an external synchronization signal. At the trigger time, the simulated GPS measurement values and I MU data are sent out simultaneously. In this way, the GPS and IMU simulation method of the present invention uses a computer to calculate GPS simulation measurement values and IMU simulation data in a sequential manner using the tracking data at the same time, and outputs these simulated data at the same time. Real-time GPS / IMU simulation can also be implemented with two computers, one for GPS simulation and the other for IMU simulation. Synchronization is also a key issue of a real-time GPS / I MU simulation system consisting of two computers, and it can also be obtained by the coupled simulation method in this patent. For the case of simulating GPS and IMU with two computers, the real-time trajectory from a six-degree-of-freedom trajectory generator < · data simultaneously drives the two computers to simulate GPS measurements and IMU data respectively. That is, two computers use the same trajectory data, and according to the GPS satellite constellation model

Page 13 576928 V. Description of Invention (ίο) and GPS receiver model to calculate GPS measurement value, calculate IMU measurement value according to IMU measurement model and error model, that is, gyroscope model, accelerometer model, and its error model. The calculations of GPS and IMU measurements are performed at the same time. GPS and IMU simulations can also be done at different times. No matter which one is calculated first, you must wait for the second simulation data, IMU data or GPS measurement data. Similarly, the synchronization module adjusts the simulated IM and GP measurement data in a synchronized manner. The simulated GPS measurement data is sent through the GPS input / output interface, and the simulated IMU data is sent through the IMU input / output interface. The simulated IMU data and GPS measurement data are stored in the buffer and wait for the trigger signal. The trigger signal can be provided by the clock of either of the two computers, or a synchronization signal from a common external source. At the moment of triggering, the simulated GPS measurements are sent synchronously with the IMU data. Therefore, it is advantageous to use two computers to simulate the coupling of GPS and IMU; use the same trajectory data to calculate i GPS measurements and IMU data on different computers at the same time and output these simulated numbers I at the same time according to. t Some test equipment provides an IRIGB time generator. In this case, the simulated GPS measurements and IMU data will be tagged with the IRIGB I time stamp when sent. Using the I R I GB time generator facilitates the synchronization of all computers in large-scale testing and simulation scenarios. In order to process the combined real-time GPS / IMU simulation method of the positioning and navigation system of the present invention (as shown in the first figure), a six-degree-of-freedom tracking generator 10 is connected to a real-time GPS / IMU simulation system 20. Output bypass group of simulation system

Page 14 576928 V. Description of the invention (11) The actual GPS receiver 31 and IMU 32 in the integrated GPS / INS system 30 are directly injected into the combined GPS / INS system 30. According to the present invention, the implementation of a real-time GPS / IMU simulation method for dynamic testing of a positioning and navigation system (such as a combined GPS / INS system) consists of the following steps: (1) According to the actual situation of the combined GPS / I NS system 30 to be tested The IMU device 32 inputs the IMU measurement mode and the IMU error model to the real-time GPS / IMU simulation system 2 0. The I M U measurement model consists of a gyroscope measurement model and an accelerometer measurement model. These models are determined by the inertial sensor principle. The I MU error model consists of a gyroscope error model and an accelerometer error model. These error models are defined by the user based on the actual IMU device 32 in the combined GPS / INS system 30 to be tested. j (2) The six-degree-of-freedom trajectory generator 10 generates real-time tracking data, and I sends the real-time trajectory data to the real-time GPS / IMU simulation system 20 to generate dynamics | GPS measurements and user-defined such as station GPS measurement or IMU signal, just like the moving body really moves along the user-defined track. I (3) The differential filter I waver 2162 in the estimator 216 of the differential GPS simulation module 221 is used to estimate the mobile station position, where the estimator 216 is the original measurement from the mobile GPS . As shown in the seventh figure, a series of Kalman filters 2164-1 to 2164 ~ L are run in parallel in the estimator library. Each Kalman filter has its own GPS carrier full-cycle fuzzy set N. The sum of ownership in the rights bank 2 1 6 5 is 1. How to choose L and N in the estimator library 2 1 6 4 is a key part in practical application. The larger the estimator library, the longer the calculation time. The present invention provides a new process for constructing a differential filter 2 1 6 2.

Page 15 576928 V. Description of the invention (12) (4) Generate output data, which includes real-time IMU data obtained by real-time GPS / IMU simulation system 20 and consistent with real IMU devices, and GPS / IMU simulation system The simulated GPS measurements obtained from the GPS receiver model in 20. (5) Format the simulated GPS measurement data, and convert the simulated IMU data into an IMU simulated electrical signal by the IMU signal generator in the real-time GPS / IMU simulation system 20. In fact, the IMU signal generator is an interface board of a simulation computer in the real-time GPS / IMU simulation system 20. The IMU signal generator generates simulated IMU electrical signals that are consistent with signals generated by the actual IMU device 32 in the combined GPS / INS system 30. (6) Process the simulated GPS measurement values, and generate a simulated IMU electrical signal from a standard interface and a regulator and connector circuit to meet the requirements of the appropriate electrical specifications and connector pin arrangements, and combine with GPS / INS system 30 I matches. (7) The simulated GPS measurement value and the simulated IM electrical signal are injected into the combined GPS / INS system 30. When the combined GPS / INS system 30 is activated in dynamic operation, its dynamic performance can be tested and evaluated as if it were a real transport / flight test. (8) During the test, a data acquisition and performance evaluation system 40 collects positioning and navigation data from the combined GPS / INS system 30. The system includes a computer. In general, it is determined whether the combined GPS / INS system 30 is working normally by comparing the real-time trajectory data generated by the six-degree-of-freedom track generator 10 with the moving body track tracking data solved by the combined GPS / INS, and evaluating performance.

P.16 576928 V. Description of the invention (13) For GPS measurement, the double difference scalar equation of L1 and L2 is dpCk l ^ MP: mr ^ sP: mr ^ kmr = Pir ^ Pcmr ^ XkN kmr ^ JT ^ Tmr ^ dpc " mr ^ M + L ^ = ^ 2) where (·) 1 means that the double difference is formed in the form of (previous 10b 0; 4) :. The subscripts M and R denote two receivers, a reference station and a motion station. The superscripts I and J indicate two different GPS satellites. P and Φ are the pseudo-range and phase-distance measurements, respectively. ρ is the geometric distance between the two antenna phase centers (user GPS receiver and GPS satellite) in nominal time. p c is the correction for the nominal geometric distance. ; I represents the wavelength. < is double-difference integer ambiguity

II

mr7F is the double-difference residual of the ionospheric effect at L1 and L2 frequencies. = Is the double-difference residual of the stratosphere effect. And w are double-difference residuals whose phase centers change. From (i is the double-difference residual of the multipath effect. The phase length measurements of narrow and wide channels are defined as Φ VV Φ ·,

A /,-ΛA / ι + Λ -φ: / 丨 -Λ Λ / ι + Λ φί1} 1 η Φ corresponds to the whole cycle of blurring, respectively ΝJmr = N'Jmr -Nlmr

Page 17 576928

Page 18 576928 V. Description of the invention (15) A2 fl / 〖2-Λ2 .IL · / i2- / 22fl < Π lmr y; 2-λ2 < As shown in the third figure, in step 3, the difference The filter 2 1 6 2 is composed of an estimator library 2 164, a corresponding weight library 2165, an intermediate fuzzy search strategy IASS, and a search window. It contains many time epochs. Basically, IASS includes simplified least squares and super wide track techniques, as shown in Figure 5. Before applying the least square method to search the fuzzy solution, the two observable satellites, such as the station and the mobile station, can be divided into two groups: the primary satellite and the secondary satellite. Because of the application of the double-difference equation, a satellite with a maximum altitude angle is defined as a satellite. The main satellite consists of four satellites with larger elevation angles followed by four independent double-difference equations. The remaining observable satellites fall into the sub-satellite category. As shown in the fifth figure, the IASS process includes a double-difference wide-channel fuzzy demodulation | block 71, a fuzzy region determination module 72, a least squares search estimator 73, a position calculation module 74, and a secondary double-difference width Road fuzzy solution module | | 75, an ultra-wide track technology module 76, and an L1 and L2 fuzzy solution module 77. The first step in the IASS process is to resolve the main double-difference wide-path blurring module 71 to resolve the main double-difference wide-path blur. The advance information about the position of the moving table is obtained from the pseudorange measurement without ionosphere and combined with the approximate double-difference wide-track phase length measurement equation! To form an instant equation. At the same time, advance information about the position of the stage can also be given by the output of the navigation processor 31. The minimum variance and prior information are used to estimate the motion station position and the main double-difference wide-channel fuzzy solution. After estimating the main double-difference wide-channel fuzzy solution, the estimated main double-difference wide-channel

Page 19 576928 V. Description of the invention (16) The fuzzy solution and the corresponding co-factor matrix are sent to the fuzzy region determination module 72, where based on the estimated double-difference wide-channel fuzzy solution and the corresponding co-factor matrix, a Blur the search area. The fuzzy search area is sent to a least square search estimator 73. Applying a standard least square search method, the least square search estimator 7 3 searches for a fuzzy set. Also, the standard least square search method can be simplified to speed up fuzzy searches. The simplified least squares search method is defined as directly searching the fuzzy set, minimizing the residuals of the quadratic form, where% is the double difference is the coordinator library 2164 of the two-path fuzzy solution estimation in the search area and the corresponding determined main and double Calculate the position of the motion table. The obfuscation module 75 applies a wide-channel phase measurement to obfuscate the obtained double-difference double-difference narrow-track. (Odd), then the corresponding narrow and wide channel technology can be obtained from the wide channel blur factor in the wide channel, L 1 and L 2 fuzzy wide channel mode factor matrix, weight library 2 1 6 5 wide channel blur. Determine the second double-wide channel fuzzy ultra-wide channel technology channel fuzzy solution technology module solution module 77 Optimal solution vector for real numbers, \ No statistics or the position of the execution confirmation solution is sent to the position of the moving platform to determine the motion The solution of the stage wide track fuzzy solution is substituted into Equation 2. The technique indicates that if it is odd (even), the narrow, L1 and L2 modulus estimation vectors are obtained in block 76, and h is corresponding to the double-difference test because of the estimation task. The calculation module 74 calculates the position of the secondary double-difference wide-channel module and gives the secondary double-difference 〇 1 to obtain an approximate wide-channel fuzzy solution as even. The opposite is true. Apply superchannel fuzzy solution. So ambiguous

Page 576928

V. Description of the invention (17) It is obtained by the combination of the solution and the narrow-path fuzzy solution, which respectively correspond to and

Yuan N N Contains: Include the steps and steps to search the window and divide it into two points to establish 2 steps \) / Step 1 This 3 because of C 6 6 2 I1L window library Λ is calculated in the As section 5 before the evaluation S The time should be 2nd at 3 for C due to the set of molds. 0 The molder is not successful when searching for the section ^ 5, the median 65 phase 21 and the library £-, -uuul extravagant right in the mold. Based on the accounting base, count. The members of the solution are confused. It is shown in Figure 4 that the 6th and 21st positions of the warehouse are moved, and the right to calculate and transport is estimated to be estimated. The phase ensemble calculation II is deducted Λ \ — / Λ yΛ

II (3) »where

^ (ζΙΦ, ΊΝ ^ pm (zl0jzl0, .pzl ^ ,. 2 ... ^^ PNjpm (zlCi | Ni ·), ′ = 1, the first term of the product of U (4) can be expressed as • exp

^ (2π) Γ dQt (cov (A0k)) = 1,2, ...,-D

Page 21 (

I 576928

V. Description of the invention (18) It is assumed to be defined as a Gaussian distribution. Equation 4 shows ρ; η (ΔΦ: | N;) and additive characteristics, where ~ (ΔΦ: | ~) represents the cumulative function of the measurement sequence at the current time tk under a single fuzzy set Ni condition. Change to + until it, the calculation of the weight not only depends on the data of the current period, but also 'fetch 5, and the data of the previous period. det (·) and C ·) -1 denote the determinant of the matrix, respectively, and so the optimal measurement residual at tk is the measured value minus the optimal calculated value. X inverse. c〇v (Ad &J; J = impulse is the variance matrix measured at time tk. r is the dimension of each measurement. For the first period of the search window, it becomes n Equation 4 (probability)

Pm λΙ {2π) Γ dQi (cov (A0k)) • exp ζ ^ οον ^ Φ, ^ ζ, 2 ~ — (5) Of course, the only weight in the weight library D = i is the value of Equation 3, i. & | The optimal stage position is the stage position times the weight of phase 1. Based on the optimal motion table position and Doppler frequency shift, estimate Ye Yun: △ too I degree. Alas.卞 Linked speed

I (3. 3) In the second period of the search window, I A s s is used to search the module 两种 Two situations may occur:, ^ ^. 3 · 3-1 When the whole week fuzzy set is the same as period 1 in a certain period, the number of Kalman filters in the estimator bank 2164 is still 1 as shown in the lower half of the sixth figure. Based on the fuzzy set and phase measurement period 2, the solution to the fuzzy determination of the position of the estimated mobile station and the calculation of the accumulativeness are corresponding in the weight library 2 1 6 5

Page 22 576928 V. The weight of invention description (19) is equations 3 and 4, where D = 1. The optimal position of the stage in period 2 is equal to the position of the stage multiplied by the corresponding weights. In this case, the weight is equal to 1. Based on the optimal mobile station position and Doppler frequency shift, the mobile station speed is estimated. 3.3-2 When the whole week fuzzy set is different from the previous period and period 1, a new member of the current fuzzy set estimator, that is, the number of Kalman filters in the estimator library 2 1 6 4 is 2, such as Shown in the upper half of the sixth figure. Based on each fuzzy set and the same phase measurement period 2, the solution of the fuzzy determination of the position of a single motion station can be estimated. The calculation of each corresponding weight in the weight library 2165 is based on equations 3 and 5, where D = 2. In other words, when a new fuzzy set is solved,

Each corresponding weight in the weight library 2 1 6 5 is calculated from scratch. During period 2, the optimal position of a sports platform is equal to the position of a single sports platform times the sum of corresponding weights. Based on the optimal station position and Doppler frequency shift, the station speed is estimated. (3 · 4) For the rest of the search window, the same process as step (3 · 4) is applied. In the last period of the search window, period N, I ASS search, the estimator library 2164 and the weight library 2165 are completely established (as shown in Figure 7). (3 · 5) First go to step 2 at the time of N + 1 and the phase measurement is input to the differential filter. Each Kalman filter has its own fuzzy set. Based on each fuzzy set and phase measurement, the solution of the fuzzy determination of the position of a single motion station can be estimated, and each corresponding weight in the weight library can be cumulatively calculated based on Equations 3 and 4. Therefore, the optimal position of the stage is equal to the sum of the individual stage positions times the corresponding weights. Based on the optimal mobile station position and Doppler frequency shift, the mobile station speed is estimated.

P.23 576928 V. Description of the invention (20) (3 · 6) After N + 1 epoch, determine the whole week fuzzy set according to the procedure described in (3 · 5) until a criterion is met, which is defined as: ^ Among them, C is a large uncertainty number to ensure that the fuzzy set is sufficiently stable to reduce. After this criterion is met, the estimator library 2 1 64 and the weight library 2 1 6 5 stop working. During the confirmation period (from the first period of the search window to when the estimator library 2 164 and weight library 2 165 stop working), the estimator library 2164 and weight library 2 165 identify the correct whole week fuzzy set and estimate the motion in real time The location of the platform. An important feature of the estimator bank 2 1 6 4 and the weight bank 2 1 6 5 is that the weights corresponding to the correct integer ambiguity in the estimator bank approach 1 and the other weights approach 0. That is to say, the correct (selected) whole week modulo number is a fuzzy number that approaches the whole week corresponding to the weight of 1.

After I (3 · 7) the whole week fuzzy set is determined, the least 20% is used to estimate the mobile station position and velocity. If a new satellite or cycle slip occurs, the algorithm is newly initialized (steps (3.7)-(3.7)), as shown in Figure 8. ^ As shown in the first and second figures, the aforementioned coupled real-time GPS / IMU simulation system 20 is composed of an Ethernet network controller 21, a GPS / IMU simulation computer 22 ', a GPS / IMU simulation interface board 23, and a signal The regulator and the connector 24 are composed of a synchronizing module 25. The 3/11/11 simulation computer 22 is composed of a GPS simulation module 22 1 for performing GPS simulation calculations and an IMU simulation module 2 22 for performing IMU simulation calculations. 〇? 3/1 page 11 interface board 23 includes 10 ~ 3 simulation wheel input / output interface 231 and an IMU simulation input / output interface 232 group

Η Page 24 576928 V. Description of the invention (21). The GPS simulation module 221 receives real-time flight data from the six-degree-of-freedom trajectory generator 10 and generates dynamic GPS measurements, including pseudorange, carrier phase 'Doppler frequency shift, and positioning information, including position and velocity information. This data along with the ephemeris and atmospheric parameters are formatted to simulate real GPS measurements. The formatted data is transmitted through the GPS simulation input / output interface 231. This interface is a standard RS2 3 2 interface connected to the combined GPwINs system 30. For the tightly coupled GPS / INS combined system, the speed information from the combined GPS / INS system 30 is sent to the GPS simulation module 221 through the same interface. This feedback speed information can be used to assist the GPS receiver tracking loop of the tightly coupled GPS / INS combined system. The IMU simulation module 222 receives real-time flight data from the six-degree-of-freedom tracking generator 10 and generates simulated IMU measurements. IMU simulation input / output _ output interface 2 3 2 Converts the I M U simulation measurement value into a specific simulated I M U telecommunication I number. Simulated GPS measurements and simulated IMU electrical signals are injected into the combined GPS / INS system 30 at the same time, driving the combined GPS / INS system to work in a real | flight state. Thus, the coupled real-time GPS / IMU simulation method of the present invention can be effectively used for ground testing of installed GPS / INS navigation systems, laboratory | physical dynamic simulation, and analysis and development of GPS systems. G P S simulation module 2 2 1 consists of a G P S satellite system model and a g P S receiver

| Model composition. According to the present invention, there are two GPS simulation methods: (1) simplified simulation method without GPS | signal generation and GPS receiver tracking loop simulation; (2) complete simulation method with GPS signal generation and GPS receiver tracking loop simulation V The third figure shows a simplified GPS simulation method. 16 degrees of freedom

Page 25 576928 V. Description of the invention (22) The generator 10 triggers a GPS satellite constellation simulation module 212. The GPS satellite constellation simulation module 2 12 reads orbital parameters, satellite clock parameters, and atmospheric parameters from an ephemeris database 211 stored in the GPS / IMU simulation computer 22. The GPS satellite constellation simulation module 212 calculates the position and velocity vectors in the geocentric geostationary (ECEF) coordinate system of all GPS satellites. GPS satellite constellation is a function of time and ephemeris data. The time is also obtained from the six-degree-of-freedom track generator 10.

As shown in the third figure, the user initial position module 213 calculates the position of the user from the six degrees of freedom orbit data and the position of the station, for example. The position of the mobile station is assumed to be real-time tracking data, such as the data near the real-time trajectory of the station simulation six-degree-of-freedom generator 10. The GPS satellite prediction module 214 uses information from the GPS satellite constellation simulation module 2 12 and the user's initial position module 2 1 3 to determine the visible GPS satellites, as well as the elevation, azimuth, and Doppler frequency shifts of these satellites. The GPS error model 2 15 I calculates error correction terms using information from the GPS satellite constellation simulation module 2 12 and the user initial position module 213, including satellite clock correction, relativistic correction, ionospheric delay, tropospheric delay, and group delay. The effect of the neutral atmosphere (ie, the non-ionizing portion) is recorded as tropospheric refraction. Radio waves with a frequency of up to 15 G Η z in the neutral atmosphere are non-diffusive media, so their retransmission is independent of frequency. In this way, it is not necessary to distinguish the carrier phase and code delay from different carriers L 1 | or L 2 V.

Wet and dry parts cause atmospheric delay. Due to the uncertainty of water vapor, the 'wet part' is very difficult to model. Fortunately, it only accounts for 0%, and 90% is dry delay. Dry delay is not only a function of temperature, pressure ’relative humidity along the Gps signal propagation path, but also a function of the signal direction, especially

Page 26) / 6928 V. Description of the Invention (23) ~ ^ Letter # Health height angle. The Marini model described in the present invention is due to the above factors. The tropospheric delay has nothing to do with the carrier frequency. It can be calculated based on the number of days of the GPS receiver and the elevation of the satellite. The position of the moving body is provided by real-time trajectory data. Here, it is assumed that the position of the GPS receiver antenna and the moving body will not introduce errors because the position deviation is relatively negligible relative to the satellite distance. The elevation angle is derived from the satellite position and the position of the moving body. The ionosphere extends from about 50 kilometers above the earth to different levels of 1000 kilometers, and it ’s a diffusion medium relative to GPS radio signals. For satellites at the apex °, the ionospheric delay of the code pseudorange is given by the following formula: ”’ k iono 40.3

TEC Among them, f represents the carrier frequency L 1 or L 2; T E C is the total electronic content (total election content). For the carrier pseudo range, the calculation formula of the ionospheric delay is the same as the above formula #-the second difference but a negative sign. For any line of sight, the satellites must be considered, that is, cosz '/ 2

Δ, ολο = \ ——: ± TEC where is the carrier frequency, L 1, L 2

Page 27 576928 V. Description of the invention (24) t TEC The electronic quantity along the GPS signal propagation path. The G P S signal passes through the atmosphere, and the ionosphere will delay the phase, leading the carrier phase by the same amplitude. So for phase measurements, the ionospheric delay is the same as the previous equation, with the opposite sign. In the present invention, the ionospheric delay is calculated based on satellite azimuth, GPS time, longitude and latitude of the moving body, satellite elevation, and satellite transmission data words αη and κη = 0, 1, 2, 3). -Selective Avalability (SA) is an intentional positioning accuracy attenuation set by the United States Department of Defense (D 0 D) for unauthorized users. When SA is turned on, the typical positioning accuracy is 1000 meters. The usability simulation was selected using a 2 P Gauss-Markov model, RTCA \ D0-208. · The effect of SA is simulated as (丨) a 2nd-order Gauss_Markov process and (2) —the sum of random constants. The second-order Gauss-Markov process is described by the following | power spectral density:! The square root (RM s) value of the 0.012rai // sec second-order process is 23 meters, and its time constant is 118 meters. This random constant has a standard normal distribution characteristic with a mean value of 0 and a standard deviation of 23 meters.

Page 28 576928 V. Description of the invention (25) The interference mold plough and effect simulation module 2 1 8 is used to simulate the interference effect of interference on G p s signal reception. Interference displays defined by location, type, and effective radiated power are constructed and input into the interference model and effect simulation module 2 1 8. The types of interference include pulsed, continuous wave (C W), and narrow bandwidth signals. Determine the attenuation of the GPS signal received by the receiver based on the GPS receiver antenna pattern and the incident angle of the interference signal. In order to analyze the aggregate effect of the interference display, it is assumed that the interference signals are added uncorrelatedly. This model calculates the ratio of interference to signal power (J / S) for each transmitter / receiver pair. The J / s ratio is a function of the type of interference, the interference radiated power, the distance between the transmitter and the GPS receiver, the GPS tracking frequency, and the receiver antenna pattern. The interference effect in the GPS receiver 31 is manifested from the complete loss of data to a reduction in tracking performance and degradation of measurement accuracy. The location, type, and effective radiated power of the interference are determined by the user through interactive operations. The raw data generation module 2 丨 7 uses the information from the GPS satellite prediction module 214, the GPS error model 215, and the interference model and effect simulation module 2 18 to calculate the simulated pseudorange, carrier phase, and distance variation for all visible satellites . Pseudorange data is calculated based on satellite position, moving body position, ionospheric delay, tropospheric delay, and interference effects. The satellite clock error is calculated from the I satellite clock parameter. The Doppler shift is calculated based on the satellite speed and the motion of the moving body. The Kalman filter 2 1 6 calculates the position and velocity of the receiver based on the simulation data. The raw data of the simulation, including pseudorange, carrier phase, and distance changes. The data format module 2 1 9 formats the position and velocity information, the simulated raw data, and the ephemeris data according to a certain protocol. Produced by different manufacturers

Page 29 576928 V. Description of the invention (26) The GPS receiver produced by the GPS outputs GPS observations in different formats. The data formatting module 219 is an essential part to ensure that the simulated GPS observations have the same format as the real GPS receiver 31 used in the integrated GPS / INS navigation system. As shown in the fourth figure, the detailed "3 receiver model" uses an input signal simulation module 50 and a tracking loop and signal processing simulation module 60 instead of the original data generation module 2 1 7 in the simplified model in the third figure. The tracking loop and response number processing simulation module 60 can accurately simulate the characteristics and performance of the GPS receiver 31. As shown in the fifth figure, the input signal simulation module 50 generates a GPS spread spectrum signal at an intermediate frequency (IF). Input The signal simulation module 50 includes a noise generator 51 that generates white noise by using a random number method, and a carrier generator 52 that generates a sine wave at an intermediate frequency for generating a coarse acquisition (C / A) code or a round number. I A code generator 53 of the (P) code, a first multiplier Mu i 54 for multiplying the noise I from the noise generator 51 with a sine wave signal from the carrier generator 52, and a code multiplier 54 from the code. The C / A code or p code of the generator 53 is the same as the first multiplication ^ 54. The second multiplier 55 is the output multiplication. The rotation of the input signal simulation module 50 is | a modulated intermediate frequency signal, which is also a tracking loop. And the input of the signal processing simulation module 60. The signal processing module 66 drives Moving a carrier DC062 generates a sine wave at the tracking frequency. The tracking frequency is close to the intermediate frequency, and the deviation between them is called the frequency tracking error. The signal processing module 6 6 also drives the code generator 6 5 to generate and code. The same c / A code or P code generated by the transmitter 53. ° As shown in the seventh figure, the IMU simulation module 2 2 2 shown in the second figure includes a gyroscope measurement model 2 2 2 1 and a gyroscope error model 2 2 2 2, and an acceleration ^ meter

576928 V. Description of the invention (27) Measurement model 2 2 2 3—accelerometer error model 2 2 2 4 and an I MU signal synthesis module 2 225. The six degree of freedom tracking data generated by the six degree of freedom tracking generator 10 drives the gyro measurement model 2 2 2 1 and the gyro error model 2 2 2 2 to simulate real gyro measurement values and errors. The gyroscope measurement and error are added in an adder. The six-degree-of-freedom tracking data simultaneously drives the accelerometer measurement model 2223 and the accelerometer error model 2225 to simulate the characteristics and performance of a real accelerometer and generate simulated accelerometer measurements and errors. The accelerometer measurement and error are added by an adder. The simulated gyroscope and accelerometer measurements are processed by the IMU signal synthesis module 2 2 2 5 to meet specific protocols. 0 As shown in the second figure, the IMU input / output interface 232 for IMU simulation includes an analog signal interface 2 3 2 — 1 (shown in Figure 8), a serial signal interface _ 232 — 2 (shown in Figure 9), a pulse signal interface 232-3 (shown in Figure 10) and a parallel digital signal interface 232 — 4 (shown in Figure 11). These interfaces convert simulated I M U measurements into a signal form that can be injected into a combined GPS / I NS navigation system. The generated signal must be exactly the same as the signal generated by the real IMU device 32 replaced by the GPS / IMU simulation system 20. Therefore, one of the key technologies of the GPS / IMU simulation system 20 is the generation of electrical signals and its interface with the installed combined GPS / INS navigation system 30. The software implements the simulation of the I M U measurement value, and the hardware converts the simulated I M U output into an electrical signal and injects it into the installed integrated GPS / INS navigation system 30. The injected signal must be compatible with the electrical performance of the on-board GPS / INS navigation system, and the injection method must ensure minimal intrusion into the installed combined GPS / INS navigation system 30. 576928 V. Description of the invention (28) Generally, the output of a real IMU device 32 is an analog signal, especially for a low-performance I MU. Low-performance I MUs are often used in combination with GPS receivers to form a combined system. The analog interface 2 3 2 ~ 1 is a multi-channel DA conversion circuit board for generating IMU analog signals. It includes—the main line interface circuit 232-11, a DMA interface 232-12, and an interrupt interface ^ 32-13. As shown in the eighth figure. All of these interfaces 232 — 11, 232 — 12, 2, 3 2 — 1 3 are connected to the standard bus of the GPS / IMU simulation computer 22. The analog interface 232 — 1 also includes a first-in-first-out (FIFO) circuit 232 — 1 4 'It is connected to the bus interface circuit 2 3 2 — 1 1, a multi-channel da conversion circuit 2 3 2 — 1 5 and it is connected to the advanced First-out (FIFO) circuit 23 2-1 4 and an analog signal conditioner of the Tiger 5 regulator and connector 24 and / or isolation 5 | 24-1 'a timing circuit 232-16, which is connected to the DMA interface 232—12 · and multi-channel DA conversion circuit 2 3 2 — 1 5. Response Most IMU manufacturers tend to embed a high-performance microprocessor in a [Mu | device, making it a so-called "smart" IMMU. In this kind of IMU, the microprocessor i passes through a standard serial or bus interface, such as RS-422 / 485, 1 5 5 3 bus, etc., as shown in the ninth figure. The serial interface 2 3 2 — 2 is a multi-channel 丨 RS-422 / 485 communication control circuit board for generating IMU serial signals. The serial interface includes a bus interface circuit 2 3 2 — 2 1 connected to a standard bus of a GPS / IMU simulation computer, and connected between the bus interface circuit 2 3 2 — 21 and a standard bus of a GPS / IMU simulation computer. Interrupt interface circuit 2 3 2 — 2 2. Connected to the bus interface circuit 2 3 2 — 2 1 Hexin adjusts and connects the _line signal conditioner of the circuit board 24 and the logic circuit 232 — 23 of the connector 24 — Lu connects to Line interface circuit 232-21 and signal conditioner and connector circuit board

Page 32 576928 V. Description of the invention (29) 2 RS_48 5 interface between the two-string two-signal conditioner and connector 24-2 Most South-performance gyroscopes and accelerometers provide pulse output, RLG and FOG is essentially a digital sensor. Many high-performance electromechanical gyroscopes and accelerometers have a pulse-modulated force feedback rebalance circuit. At the same time, the 'pulse output' has many advantages over analog signal rotation. As shown in the tenth figure, the "pulse signal interface 232-3 is a multi-channel numerically controlled frequency generating circuit board" for generating IMU pulse output signals, and it includes a bus interface circuit 2 connected to the GPS / IMu simulation differentiator 2 2 3 2 — 3 1. Connect to the bus interface

Circuit 2 3 2-3 1 is a t-break interface 232-32 between the standard bus of the GPS / IMU simulation computer 22 and a multi-channel digital frequency conversion circuit connected to the bus interface 232-31 2 3 2 — 3 3. A pulse signal conditioner connected between the multi-channel digital frequency conversion circuit 2 32-33 and the signal conditioner and connector circuit board 2 4 and the addition and subtraction pulse isolation circuit 2 3 2-3 3.

Some IMUs have built-in logic circuits and microprocessors that can output parallel digital signals and even implement a standard parallel bus. This type of I M U can send signals to the parallel interface of a combined GPS / I NS computer or the motherboard bus of a navigation system. As shown in the eleventh figure, the parallel digital signal interface 232-4 includes a first set of interrupt interfaces 232-41a and a bus interface circuit 232-42a, a second set of interrupt interfaces 232-41b and a bus interface circuit 2 32-42b. Among them, the first set of interrupt interfaces 232 — 41a and the bus interface circuit 23 2 — 42a are connected to each other, and are connected to the standard bus of the GPS / IMU simulation computer 22; 42b are connected to each other and to the standard bus of the GPS / INS navigation computer 33 respectively;

Page 33 576928 V. Description of the invention (30) One set of bus interface circuits 2 3 2 — 42 a is connected to the second set of bus interface circuits 2 3 2 — 4 2 b. According to the requirements of the I M U output signal, different types of signal generation circuits are designed to produce the specific types of signals required for specific simulation tasks. These signal generating circuits are designed as a series of optional modules. The design of the signal module is based on the structure of a modular GPS / IMU simulation computer 22. According to the actual I M U product being simulated, a specific type of signal generating circuit is selected in order to generate an electronic signal which is required to be fed into the GPS / INS navigation system computer 3 3. As shown in the second figure, the Ethernet network controller 21 is configured to receive real-time carrier flight track data from the six-degree-of-freedom track track generator 10. The six-degree-of-freedom trajectory generator 10 and the real-time IMU simulation system 20 can also be connected through a standard serial communication port such as RS-422 / 485 according to the application requirements. As shown in Figures 8-11, the signal conditioner and connector 24 is used to convert the signal generated by the signal generator to the required electrical standard and form an appropriate connection plug so that the signal can be fed into the The GPS / INS navigation computer 33 of the GNC system on the carrier, that is, the combined GPS / INS navigation system 30. The signal conditioner and connector board 24 is designed according to the specific I M U used by the user. This is because even though two I M Us have the same output signal type, they usually have different signal ranges, scale factors, voltages, currents, and different plug layouts. The signal conditioner and connector board 24 usually includes an amplifier, buffer, coupler, and some logic circuits, and forms a suitable plug for a specific on-board system to directly replace the actual IMU °

Page 34 576928 V. Description of the invention (31) Coupling real-time IMU and GPS simulation is very complicated. The reason is that the actual IMU in the GPS / INS system is a self-contained device. When the carrier is not moving, the GPS receiver in the GPS / INS system cannot produce dynamic measurements. The IMU can generate inertial measurements by itself without receiving any signals from the outside. When the carrier is in a steady state, the outputs of the actual IMU device 32 and the GPS receiver 31 are constant. Therefore, when the combined GPS / INS system 30 is dynamically tested, the actual IMU device 32 and GPS receiver 31 mounted on the carrier must be from The system is separated and replaced by the coupled real-time GPS / IMU simulation system 20 of the present invention. This substitution will cause intrusion to the installed avionics system, that is, the combined GPS / INS system 30 will cause intrusion.

In addition, there are currently no interface standards for IMU signals and interfaces. There are many types of gyroscopes and accelerometers produced by different manufacturers, and there are various signal types and interface requirements. Therefore, one of the core technologies of the coupled real-time GPS / INS simulation system 20 is the generation of electronic signals and the interface between it and the installed combined GPS / INS system 30. The simulated imu measurement values can be calculated by the IMU simulation module based on real-time six-degree-of-freedom tracking data, and the sensor model and error module calculated by software. The simulated MU output will be converted into electrical signals by hardware and injected into the installed integrated GPS / INS system 30. The input signal must be combined with the onboard GPS / INS system 30. The input method must minimize the invasion of the G10 / GPS / INS system 30. Coupling real-time G P S / I N S simulation system 20 is a practical and feasible device to solve all these problems.

It is worth mentioning that the coupled real-time GPS / INS simulation system 20 software can be improved to produce a more efficient user interface. It can even include a six degree of freedom track generator.

Page 35 576928 V. Description of the invention (32) '^-$ As shown in the first figure, a data acquisition and performance evaluation system 4 is independently connected to the six-degree-of-freedom track generator 10 and the combined GPS / INS system 30 In this way, a track record can be sent to the data acquisition and performance evaluation system 40 'and compared with the airborne system solution. This tracking comparison is used for the following two types. One is to verify the accuracy of the coupled real-time GPS / IMlJ simulation system 20; the other is to test and evaluate the performance of the combined GPS / INS system 30. As shown in the fourth figure, the present invention works in two modes. When working in mode 1, switch 2 1 6 1 sends simulated GPS measurement data to Kalman filter 21 63. In mode 1, only the GPS receiver of the mobile station is simulated in the simulation module. When working in mode 2, the switch 2161 sends the gps measurement data of the simulated mobile station and the station to the differential filter 2 1 6 2. In mode 2 the differential GPS receiver The machine is simulated in the GPS simulation module to test a higher-precision differential GPS \ IMU navigation system. When evaluating the performance of the combined GPS / INS system 30, the data output by the six-degree-of-freedom track generator 10 is ideal. For example, using the simulated real-time GPS and IMU signals, the combined GPS / INS system 30 can solve the motion trajectory. The performance of the combined system can be obtained by comparing the ideal trajectory and the solution trajectory solved by the system. Generally, six degrees of freedom The trajectory data can generate the following flight data: (1) Time label. (2) Geographical location, including altitude, latitude, longitude, and altitude. (3) Position vector in the Earth Center Inertial System (ECIZ). (4) At the Earth Center Velocity vector in the inertial frame (ECIZ) (5) Acceleration speed vector in the earth center inertial frame (EC IZ)

Page 36 576928 V. Description of the invention (33) Quantity. (6) The rotation matrix from the Earth's central inertial system (EC I Z) to the body axis system (B). (7) The angular velocity vector observed in the Earth's central inertial system (EC I Z) and projected on the body axis system (B). (8) The angular acceleration vector observed in the Earth's central inertial system (EC I Z) and projected on the body axis system (B). The combined GPS / INS system 30 can produce outputs: (1) geographical location, including altitude, latitude and longitude, and altitude. (2) Velocity vector in N system. (3) The acceleration vector in the N system. (4) Rotation matrix from N system to body axis system. (5) The angular acceleration vector observed in the N system and projected in the body axis system. It should be noted that after some coordinate system transformations, most tracking variables can be directly compared. Generally, we can get position accuracy, altitude accuracy, heading angle accuracy, attitude accuracy, and speed accuracy to evaluate the system performance.

Page 576928 Brief description of the diagram: The first diagram: a block diagram showing a coupled real-time simulation system. According to the preferred implementation of the present invention, the system is equipped with a six-degree-of-freedom track generator, a data Acquisition and performance evaluation system, and an all-light GPS / INS combined positioning and navigation system. Figure 2: Block diagram showing a coupled real-time simulation system according to a preferred implementation of the present invention. FIG. 3 is a block diagram of a GPS real-time simulation module according to a simplified model of the preferred implementation scheme of the present invention. Figure 4 is a block flow diagram of a GPS real-time simulation module with a tracking circuit model according to a preferred implementation of the present invention. FIG. 5 is a block diagram of an instant ambiguity search method of a real-time global positioning system estimation method (OTF) according to a preferred implementation scheme of the present invention. FIG. 6 is a block flow chart of the formation process of the estimation library and the weight library of the real-time global positioning system estimation method according to the preferred implementation scheme of the present invention. FIG. 7 is a block diagram of a differential wave filter for a real-time global positioning system estimation method according to a preferred implementation scheme of the present invention. FIG. 8 is a flowchart of a differential GPS block of a real-time global positioning system estimation method according to a preferred implementation scheme of the present invention. Figure 9: Block diagram of a tracking loop model of a real-time global positioning system estimation method according to a preferred implementation of the present invention. Tenth Fig. · The block diagram of the signal generation method of the real-time global positioning system H-system estimation method according to the preferred implementation scheme of the present invention. The eleventh figure is the fourth figure according to the preferred implementation scheme of the present invention.

Page 38 576928 Schematic description block diagram of GPS tracking loop simulation. Figure 12: A block flow diagram of an inertial sensor I M U simulation module according to a preferred implementation of the present invention. Figure 13 is a block flow diagram of an analog signal interface according to a preferred implementation of the present invention. Figure 14 is a block flow diagram of a serial signal interface according to a preferred implementation of the present invention. Fig. 15 is a block diagram of a pulse signal interface according to a preferred implementation of the present invention. Figure 16 is a block flow diagram of a parallel digital signal interface according to a preferred implementation of the present invention.

Claims (1)

576928 l · A coupled real-time differential GPS \ Imu simulation method for positioning and navigation system testing, including the following steps ... (a) According to a real I μu device under test in a combined GPS / INS system 'input I MU The measurement model and I MU error model are coupled to a real-time GPS / IMΙ simulation system. The IMU measurement model includes a gyroscope measurement model and an accelerometer measurement model. They are determined by the principle of inertial sensors. The Imu error model includes a gyroscope error model and an accelerometer error model. , They are determined by the user according to the real IMlJ device in the combined GPS / INS system to be tested; 〆, (b) generating real-time trajectory data from a 16-degree-of-freedom trajectory generator, and transmitting the real-time trajectory data to the coupled real-time GPS / IMU simulation system, the real-time tracking data is defined by the user, and the coupled real-time GPS / IMU simulation system generates dynamic GPS measurements and IMU signals as if the carrier is really moving along a user-defined trajectory; (c) is estimated by The mobile station estimates the position and velocity of the mobile station; (d) generates output data, including the coupling of the IMU model produced in the real-time GPS / IMu simulation system; The real-time IMlJ data generated by the GPS receiver model in the GPS / IMU simulation system, such as GPS measurements of stations and mobile stations; (e) Formatting such as station PS measurements, mobile station position and speed, and using # 马 合The IMU signal generator in the real-time GPS / IMU simulation system converts the simulated IMU data into I MU simulated electrical signals. The I MU signal generator is an interface board in a real-time GPS / IMU simulation system simulation computer; (ί) processes the Simulate GPS measurements and generate IMU simulated electrical signals from standard interfaces. Form appropriate electronic specifications from regulator and connector circuits Page 576 928 __ Case No. 90116794 VI. Patent application scope and connector arrangement to make it compatible with the combined GPS / lNS system; (g) Inject the simulated GPS measurement and IMU electrical signals into the GPS / INS system; when the combination When the GPS / INS system is activated and Λ is in a kinetic working state, its performance can be tested and evaluated as if it were a real transport test. 1 2 · The coupled real-time differential Gps \ iMu simulation method as described in item i of the patent application scope, including in step (c), a differential filter is used to calculate the position of the mobile station by simulating GPS measurement data of the station and the mobile station And speed, a set of Kalman filters that run in parallel in the estimation library, each Kalman filter has a GPS carrier phase integer ambiguity set and a weight value calculated in the weight library, the sum of the weight values in the weight library For 1 person. 3. The coupled real-time differential GpS \ IMlj simulation method as described in item 1 of the scope of patent applications, the differential filter includes an estimator library, a corresponding weight library, an I ASS immediate ambiguity search method, and a search window for several epochs, Step (c) further includes: (c · 1) setting a search window, which is composed of a plurality of time periods N; (c · 2) using one, intermediate fuzzy search strategy for the first time period in the search window (IASS), search the whole week fuzzy set, where, because there is no member in the estimator library before the first period, the whole fuzzy integration is a member of the estimator library, where the fuzzy set is based And phase measurement, estimate the fuzzy solution of the carrier position determination, and then calculate the corresponding weights in the weight library. As a result, the optimal carrier position during the period is the position of the carrier multiplied by the corresponding And 'based on the optimal carrier position and the Doppler shift, estimate the carrier speed 576928 __ 一-面 90116794 一 __, the car on July 28 倐 i VI. Apply for a profit of g-^ --- ^ degrees; (c · 3) in the second time period in the search window, Using the IASS to search the whole week fuzzy #; (c · 4) applying the same process as step (c · 3) for the remaining period of the search window, wherein in the last period of the search window, Period N, after the I ASS search, the estimator bank and the corresponding weight bank are completely established; (c · 5) in the N + 1th period, the phase measurement is continuously input to the parent of the estimator bank A Kalman filter, wherein, based on each of the fuzzy set and the phase measurement, a single carrier position can be estimated, and each corresponding weight in the weight library can be accumulated and calculated. Therefore, the carrier is the most The optimal position is equal to the single carrier position multiplied by the sum of the corresponding weights, and further estimates the carrier speed based on the optimal carrier position and the Doppler frequency shift; (c · 6) applying step (c · 5) After the N + 1th period, until a criterion is satisfied, wherein After that, the estimator library and the weight library stopped working, during the confirmation period, from the first period to the last period of the search window, when the estimator library and the weight library stopped working, ^ Paragraph 'The estimator library and the weight library continuously identify the correct whole week fuzzy, set, and estimate the position of the carrier in real time, wherein the weight library corresponds to the correct The whole week fuzzy weight approaches one, and the remaining fuzzy sets converge to zero; and (c · 7) After determining the whole week fuzzy, use the least squares estimation method to estimate the position and Speed; when a new satellite or cycle slides Page 42 576928. July 2nd, Q2 绦 t Case No. 9011679i VI. Scope of Patent Application Occurrence 'The process (steps (c · 1) to (C · 7) will start the worker. 4. The coupled real-time differential gps \ imu simulation method as described in item 3 of the scope of the patent application, wherein 'in step (c.3), when the whole week fuzzy set is the same as the previous period, all the The number of said Kalman filters is constant ', wherein based on the fuzzy set and the phase measurement, the position of the carrier can be estimated in the estimator library and the calculation of the accumulative property is corresponding in the weight library As a result, the optimal carrier position is equal to the carrier position multiplied by the corresponding weight, and the carrier velocity is estimated based on the optimal carrier position and the Doppler frequency shift. By. 5. The coupled real-time difference * GPSXIMU simulation method described in item 3 of the scope of patent application 'wherein' in step (c3) when the whole week fuzzy set is different from a previous period, the current fuzzy integration is A new member of the estimator library, that is, the number of the Kalman filters plus _, wherein based on each of the fuzzy sets and the same phase measurement, a single motion station position can be estimated in the estimation bounds library , And the weight of each phase 2 in the weight library is calculated from the beginning, so the optimal position of the carrier is equal to the single carrier position multiplied by the sum of corresponding weights, where based on the optimal carrier position and the Doppler shift, which estimates the carrier velocity. 6. Coupling real-time differential leaves as described in item 3 of the scope of the patent application. The simulation method 'wherein the IASS includes the following steps: In the main double-difference wide-channel fuzzy solution module, the main double-difference wide-channel fuzzy is solved, and I f: advance information of the mobile station position from the pseudo-range without ionosphere Combining the double-difference wide-channel phase length measurement with the approximate double-difference measurement to estimate the mobile station position and the main double-difference wide-channel fuzzy solution; 576928 ——— ^ -_ Mj6Z94_ July 28, 1992 6. The scope of patent application is based on the main double-difference wide-channel fuzzy solution and the corresponding factor search domain; the application of the simplified least square search estimator is searched in the position calculation module based on Calculating the position of the mobile station by the determined main dual; applying the phase difference measurement of the differential wide channel of the mobile station determined by the primary wide-channel blur to determine an approximate double-difference narrow-channel fuzzy solution by determining the secondary double-difference wide-channel blur Then, the block should be obtained to obtain the narrow-path fuzzy solution; and in the L1 and L 2 fuzzy solution module, the L1 and L2 fuzzy solutions are obtained from the combination of the L 丨 and L 2 modular solutions and the narrow-path fuzzy solution. The coupled real-time true method described in the fourth item of the scope, wherein the IASS includes the following steps: · In the main double difference wide-channel fuzzy solution module, the advance information about the mobile station position in the main double is solved. The approximate double-difference wide-channel phase length measurement of the mobile station position and the main double-difference cold channel fuzzy solution; based on the main double-difference wide-channel fuzzy solution and the corresponding factor drag field; apply a simplified least square search Estimator Calculate the position of the mobile station in the stand-up nose counting module based on the determined primary dual; and apply the phase wide measurement of the Jiang wide channel of the mobile station determined by the primary wide channel blur to determine the secondary double difference wide channel blur The correction matrix is used to establish a fuzzy set of ambiguities; the difference is a wide solution, and the position is given to the sub-double solution; the super wide technique is used to blur the solution from the wide solution. The differential GPS \ IMU simulation is based on the difference wide-path blur, and the pseudorange measurement of the ionosphere is combined to estimate the matrix to establish the ambiguity fuzzy set. 576928 -1 No. 90116794 July 2ft, Q2 _ VI. Patent Application Range 1 Find the approximate double-difference narrow-path fuzzy solution, and then apply the ultra-wide-channel technology module 'to find the narrow-path fuzzy solution; and at L1 and L 2 In the fuzzy solution module, the L1 and L2 fuzzy solvers are obtained from the combination of the L1 and L2 fuzzy solutions and the wide-channel fuzzy solution and the narrow-channel fuzzy solution. 8 · The coupled real-time differential Q p $ \ I μ U simulation method according to item 5 of the scope of the patent application, wherein the IA SS includes the following steps: In the main double-difference wide-channel fuzzy solution module, the main double-difference is solved. Wide-channel blur, in which advance information about the position of the mobile station is obtained from pseudorange measurements without ionosphericity and combined with an approximate double-difference wide-channel phase length measurement to estimate the mobile station position and the main double-difference width Channel fuzzy solution; establishing a fuzzy search domain based on the main double-difference wide channel fuzzy solution and the corresponding factor matrix; ^ applying a simplified least square search estimator to search the fuzzy set; in a position calculation module, based on the determined main double Calculate the position of the mobile station with the difference wide-path ambiguity solution; apply the position of the mobile station determined by the main wide-channel ambiguity to the secondary double-difference wide-channel phase measurement to determine the secondary double-difference wide-channel ambiguity solution; find an approximation The double-difference narrow-path fuzzy solution is then applied to the ultra-wide-channel technology module to obtain a narrow-path fuzzy solution; and in the L1 and L2 fuzzy-solution modules, from u and the fuzzy solution from the wide-channel fuzzy solution and the narrow-channel fuzzy solution, Combine to find the Li and L2 fuzzy solvers. 9 · The coupled real-time differential GpS \ IMlj simulation method described in item 1 of the scope of patent application 'further includes' after the above step g, collecting test data from the combined GPSWNS system, and the data is obtained through data collection and performance Page 45 576928 _Case No. 90116794_ Monument Year July 28_ 日 倐 正 _ Sixth, the patent application scope τ evaluation system is obtained, the system is connected between the six degree of freedom trajectory generator and the combined GPS / INS system And is used to compare the real-time trajectory data from the six-degree-of-freedom trajectory generator with the carrier tracking data obtained by the combined GPS / INS to determine whether the GPS / INS system is working properly and to evaluate its performance. 10. The coupled real-time differential GPS \ IMU simulation method as described in item 2 of the scope of patent application, further comprising, after step g above, collecting test data from the combined GPS / I NS system, and the data is collected through data acquisition and The performance evaluation system obtained that the system was connected between the six-degrees-of-freedom trajectory generator and the combined GPS / INS system and was used to compare the real-time trajectory data from the six-degrees-of-freedom trajectory generator with the combined GPS / INS The carrier tracking data obtained by INS is used to determine whether the GPS / INS system is working properly and to evaluate its performance. 11. The coupled real-time differential GPS \ IMU simulation method as described in item 3 of the scope of the patent application, further comprising, after step g above, collecting test data from the combined GPS / INS system, and the data is collected through data acquisition and performance. The evaluation system obtained that the system was connected between the six-degree-of-freedom trajectory generator and the combined GPS / INS system, and was used to compare the continuous trajectory data from the six-degree-of-freedom trajectory generator with the combined G ps / The trajectory data of the carrier obtained by INS to determine whether the GPS / INS system is working properly and evaluate its performance. 12. The real-time differential Q p $ \ I μ U simulation method, as described in item 4 of the patent application, further includes, after step g above, collecting test data from the combined GPS / INS system, the Data through data acquisition and performance Page 46 576928 Case No. 90116794 Jeremiah July 2ft Amendment 6. The patent application range evaluation system was obtained. This system was connected between the six-degree-of-freedom trajectory generator and the combined GPS / INS system and was used to compare The real-time trajectory data from the six-degree-of-freedom trajectory generator and the carrier tracking data obtained by the combined GPS / INS to determine whether the GPS / INS system is working properly and to evaluate its performance. 13. The coupled real-time differential GPS \ IMU simulation method as described in item 5 of the scope of patent application, further comprising, after step g above, collecting test data from the combined GPS / I NS system, and the data is collected through data acquisition and The performance evaluation system obtained 'The system is connected between the six degree of freedom track generator and the combined GPS / I NS system, and is used to compare the real time track data from the six degree of freedom track generator with The carrier trajectory data obtained by the combination G ps / INS is used to determine whether the GPS / INS system is working properly and to evaluate its performance. 14. The coupled real-time differential GPS \ IMU simulation method as described in item 6 of the patent scope further includes, after step g above, collecting test data from the combined GPS / I / S system, and the data passes the data The acquisition and performance evaluation system is obtained, the system is connected between the six-degrees-of-freedom trajectory generator and the combined GPSflNS ^ system 'and is used to compare the real-time performance data from the six-degrees-of-freedom trajectory generator with the combination (^ 1 ^ / 1 \ 8 The carrier trajectory data obtained to determine whether the GPS / INS system is working properly and evaluate its performance. 1 5 · As claimed: the coupled real-time differential GPS described in item 7 of the patent scope \ The IMU simulation method further includes, after the above step g, collecting test data from the combined GPS / INS system for the slave & s, certificate k »π A bismuth, which data is collected and performance Page 47 576928 ——_ Case No. 90116794_ July 2ft Q9__ Amendment VI. Patent application scope f Evaluation system obtained, this system is connected to the 6 DOF track generator and the combined GPS / INS system. It is also used to compare the real-time trajectory data from the six-degree-of-freedom trajectory generator with the carrier track data obtained from the combined GPS / INS to determine whether the GPS / INS system is working properly and evaluate its performance. 16. The coupled real-time differential GPS \ IMU simulation method as described in item 8 of the scope of the patent application, further comprising, after step g above, collecting test data from the combined GPS / INS system, and the data is collected through data acquisition and The performance evaluation system was obtained that the system was connected between the six-degrees-of-freedom track generator and the combined GPS / I NS system, and was used to compare the real-time trajectory data from the six-degrees-of-freedom track generator with the combination GPS / I NS solution carrier trajectory data to determine if the GPS / INS system is working properly and evaluate its performance. 17 · —Light-weight real-time differential GPS / IMU simulation system, connected between the six-degree-of-freedom trajectory generating benefit and the combined GPS / INS system, including the following parts. A GPS / INS simulation interface board, including GPS Simulation input / output interface and IMU simulation input / output interface; A GPS / INS simulation computer, including a GPS simulation module that generates GPS simulation, and an IMU simulation module that generates IMU simulation. The GPS simulation module receives the data from a six-degree-of-freedom trajectory generator. This real-time tracking data generates dynamic GPS measurements that include pseudorange, carrier phase, and Doppler shift, position, and velocity information. The dynamic GPS measurements are formatted to simulate real GPS measurements and pass through the The GPS simulation input / output interface is sent to the combined GPS / INS system. The speed information from the combined GPS / INS system is communicated through Page 48 576928 Case No. 90116794 July 2R 1992 Amendment VI. The scope of the patent application has passed the GPS simulation input / output interface into the GPS simulation module for GPS tracking loop assistance to improve the performance of the combined GPS / INS system; The IMU simulation module receives the real-time tracking data from the six-degree-of-freedom trajectory generator and generates a simulated IMU measurement, which is converted into a specific simulated IMlJ electrical signal by the IMU simulation input / output interface; A signal conditioner and connector, which converts a simulated IMU electrical signal from the IMU simulated input / output interface into an IMU electrical signal having a certain form and meeting a certain electrical standard, the simulated electrical signal and the simulated GPS measurement They are injected into the combined GPS / INS system, so that the on-board GPS / INS navigation system can enter into a real state of transportation test. 18. The coupled real-time differential gps / IMU simulation system as described in item 17 of the scope of patent application, wherein the GPS simulation module includes: a GPS satellite constellation simulation module, the six freedoms from the six degrees of freedom track generation state Degree trajectory data drives the G p S satellite constellation simulation module, and reads orbital parameters, satellite clock parameters and atmospheric parameters from the ephemeris database, and the δHel calendar data is stored in the light-weight real-time G pg / IMU simulation system The GPS / IMU simulation computer, and calculate a position and velocity vector in the coordinate system of the earth center with the earth for all GPS satellites; a user initial position module, which is driven by the six degrees of freedom track data A GPS satellite prediction module 'it uses information from the GPS satellite constellation simulation module and the user's initial location module to determine visible GPS satellites' and its elevation, azimuth and Doppler frequency shifts; a GPS error model, It uses the GPS constellation simulation module from the GPS and 576928 Amendment No. 90116794 VI. Patent application scope The information from the user's initial position module is calculated as ^^ A Different IxFb measurement error 1 item, the error item includes satellite clock correction, phase% ^ difference is late, tropospheric delay , And group delay; electric carving! 1. An interference model and effect simulation module, which is used to simulate the effect of straight signal reception. 'Here will be formed by the location, type: and = radiant power meaning + queue * Yanhai interference model & effect # 真 module's Input; " A raw data generation module, which uses information from the GPS satellite prediction module, the GPS error model, the interference model, and the effect simulation module to calculate the pseudorange, carrier phase, and distance variation of all visible satellites. An estimator that uses the simulated raw data from the raw data generation module to calculate the position and speed of a mobile MGPS receiver; a data formatting module that formats the ephemeris data according to a specified protocol, formats the position, and Speed information, formatting the raw data, it allows the simulated GPS measurement to have the same output data format as the real GPS receiver in the combined GPS / INS system. 19. The coupled real-time differential GPS / IMU simulation system as described in item 18 of the scope of patent application, wherein the estimator includes a Kalman filter that uses the simulated mobile station GPS measurement data to calculate the position and velocity of the mobile station. 20. The coupled real-time differential GPS / IMU simulation system as described in item 18 of the scope of patent application, wherein the estimator includes a differential filter that calculates the position and velocity of the mobile station using simulated mobile station and RPS measurement data. 21. The coupled real-time differential GPS / IMU simulation system as described in item IQ of the scope of patent application, wherein the estimator further includes the use of a simulated mobile station and such as 576928 _ Case No. 90116794__minute 9 noon July July-"- -6. Differential filter for calculating the position and velocity of the mobile station with GPS measurement data of the patent application station. 22. The coupled real-time differential GPS / IMU simulation system as described in item 17 of the patent application scope, wherein the GPS simulation module includes: a GPS satellite constellation simulation module, the six degrees of freedom from the six degree of freedom track generator The tracking data drives the GPS satellite constellation simulation module and reads orbital parameters, satellite clock parameters and atmospheric parameters from the ephemeris database. The ephemeris database is stored in the GPS / IMU simulation of the coupled real-time GPS / IMU simulation system. The computer calculates a position and velocity vector in the coordinate system of the earth center with the earth for all GPS satellites; a user initial position module, which is driven by the six-degree-of-freedom tracking data; a GPS satellite prediction module, It uses the information from the GPS satellite constellation simulation module and the user's initial location module to determine the visible GPS satellites, their elevation, azimuth, and Doppler frequency shifts; it generates a GPS error model that uses the GPS satellite satellites The information from the user's initial position module is used to calculate the 傪 σ term of the GPS measurement error. The error term includes satellite clock correction. Tropospheric delay, and group delay; Correspondence, ionospheric delay interference model and effect simulation module, which is used for signal reception [here will form an interference array defined by position true interference to GPS: rate and the interference model and effect Simulation :::: Shoot an input signal to simulate a spread-spectrum signal, which includes Block, which is used to generate intermediate frequency (IF) GPS noise using random number method to generate white noise 576928 correction Case No. 90116794 VI. Patent Application Acoustic Generator 'A carrier generator that generates an IF sine wave signal, a code generator that generates rough capture (C / A) code or precise (p) code A first multiplier that multiplies the white noise from the noise generator by 5 signals from the carrier generator, and implements the = obtained (C / A) code or exact (p) code from the code generator Multiplying with the output of the first multiplier, two multipliers; the human brother's first tracking loop and signal processing simulation module, which can truly realize the characteristics and performance of GPS receivers, where the tracking loop and the simulation / physical simulation input signal Is a frequency signal from the input signal simulation module, and the tracking loop and signal processing simulation includes a carrier phase correction, which is used to drive the -carrier DC0 to generate the heel and longitudinal frequency near the intermediate frequency The sine wave, the deviation between the tracking frequency of the generated sine wave and the input intermediate frequency signal is called the frequency tracking error, and a code phase correctiona. It drives a code generator to generate the coarse capture (C / A ) Code or fine, code; ^ A Kalman filter, which uses the original data from the original data to calculate the GPS receiver position and speed; a data formatting module, which formats the ephemeris data / formatting according to a specified protocol The position and velocity information, formatting the raw data, allows the simulated GPS measurement to have the same output data format as the through GPS receiver in the combined GPS / INS system. 23. The coupled real-time differential GPS / IMU simulation as described in item 22 of the scope of application, where the estimator includes a Kalman filter that uses the simulated mobile station GPS measurement data to calculate the mobile station position and velocity. . Page 52 576928—Case No. 90116794 July 28th—Ji ^ · 夂 'Patent Application Scope 24 · Coupled Real-Time Difference Gps / IMl as described in Patent Application Scope Item 22] Simulation system, where the estimator includes the use of simulation A differential filter that calculates the position and velocity of a mobile station, such as the mobile station and GPS measurement data. 25. The coupled real-time differential GPS / IMU simulation system as described in item 23 of the scope of patent application, wherein the estimator further includes a differential filter that calculates the position and velocity of the mobile station by using simulated mobile stations and GPS survey data. 26. The coupled real-time differential GPS / IMU simulation system according to item 17 of the scope of patent application, wherein the I MU simulation module includes a gyroscope measurement model ^ a gyroscope error model, an accelerometer model, and an accelerometer error model ^, And IMU # synthesis module, the 6-DOF tracking data generated by the 6-DOF trajectory generator 2 drives the gyroscope measurement model and the gyroscope error model to simulate the characteristics and performance of a real gyroscope Use U, 2 true gyroscope to measure and error I, and use -adder to add the two = π, the six degrees of freedom generated by the six-degree-of-freedom trajectory generator t = the gage accelerometer measurement model and the accelerometer The error model and an adder will be used to add the two manpower to one JL. The simulated gyroscope is 4 forgotten society stone, and the mouth is on. The measured data is calculated by the full θ Ϊ from the IMP signal synthesis module. Dealer to meet specific agreement. ^ 佚 尼 576928-^ s- charm-90116794 — July 1992 revision _ VI. Patent application scope f Gyroscope error model simulates the characteristics and performance of a real gyroscope to make the simulated gyroscope measurement and error, An adder is used to combine the two together. The six-degree-of-freedom trajectory data generated by the six-degree-of-freedom tracking generator drives the accelerometer measurement model and the accelerometer error model to simulate a true accelerometer feature. And performance to form a simulated accelerometer measurement and error, and use an adder to combine the two together; the simulated gyroscope and accelerometer measurement data are processed by the MU signal synthesis module to meet the specific agreement . 28. The coupled real-time differential GPS / IMU simulation system as described in item 19 of the patent application scope, wherein the Ml] simulation module includes a gyroscope measurement model ^ a gyroscope error model, an accelerometer model, and an accelerometer Error model 'and a 1 MHz signal synthesis module, the six degrees of freedom trajectory data generated by the six degree of freedom tracking generator drive the gyroscope measurement model and the characteristics and performance of the gyroscope error model for a real gyroscope Perform simulation to form simulated gyroscope measurements and errors, and use an adder to combine the two, α; the six-degree-of-freedom trajectory data generated by the six-degree-of-freedom trajectory generator drives the acceleration Meter measurement model and the accelerometer error model to simulate the characteristics and performance of a real accelerometer to form simulated acceleration leaf measurements and errors, and use an adder to combine the two; the simulated gyroscope and acceleration The meter measurement data is processed by the I MU signal synthesis module to satisfy a specific protocol. 29. The coupled real-time differential GPS / IMU simulation system according to item 20 of the patent application scope, wherein the MU simulation module includes a gyroscope measurement module 1 'a gyroscope error model, an accelerometer model, and an accelerometer error Page 54 576928 28th amendment number 90116794 6. Patent application range difference model, and an I MU signal synthesis module, the six degree of freedom trajectory data generated by the six degree of freedom trajectory generator drives the gyroscope measurement model and the The gyroscope error model simulates the characteristics and performance of a real gyroscope to form simulated gyroscope measurements and errors, and uses an adder to combine the two. 'The six-degree-of-freedom track generator generates The six-degree-of-freedom trajectory data drives the accelerometer measurement model and the accelerometer error model to simulate a real accelerometer characteristic and performance to form a simulated accelerometer measurement and error 'and use an adder to combine the two together The simulated process is 30. As the simulation system, > the gyroscope formed by a difference model is combined with the trajectory number to measure the simulated process. The processing is 31. Such as the gyroscope and accelerometer measurement data. MU signal synthesis module meets specific agreement. The coupled real-time difference * gps / IMu system as described in item 21 of the patent application, where 'The I MU simulation module includes a gyroscope measurement mode gyroscope error model, an accelerometer model, an accelerometer error', and an IMU 彳§ No. synthesis module 'The six degrees of freedom track data of the six degree of freedom trajectory generator drives the gyroscope measurement model and the error model to simulate the characteristics and performance of a real gyroscope to simulate the gyroscope measurements and errors, And using an adder to bring the two together; the six-degree-of-freedom data generated by the six-degree-of-freedom trajectory generator drives the accelerometer measurement model and the accelerometer error model-real accelerometer characteristics and performance to form a simulated accelerometer Acceleration and error, and use an adder to combine the two; the measured data by the gyroscope and accelerometer meet the specific agreement by the IM U signal synthesis module. Coupling real-time differential GPS / IMU as described in patent application scope item 22 (Page 55) 76928 Case No. 9 (111, July 1992, patent application scope: True Chinese) The 10 simulation modules include a gyroscope measurement mode gyroscope error model, an accelerometer model, one plus, one type, and one IMU signal synthesis The module, the six free-producing, and the α's Ukoutun anti-m trails produce crying gyroscopes i degrees of freedom trajectory data to drive the gyroscope measurement model and the characteristics and performance of the formation difference model for a real gyroscope Straighten ^ „True Gyro Measurement and Error 'and use an adder to get both together; the six degrees of freedom generated by the six degree of freedom trajectory generator are driven by data, the accelerometer measurement model, and the acceleration Calculate the error model square ^ _ the characteristics and performance of the real accelerometer to form the simulated acceleration simulation quantity and error, and use an adder to combine the two; the gyroscope and accelerometer measurement data by this IMU signal synthesis module processes to meet specific protocols. '32. The coupled real-time differential gps / iMu simulation system as described in item 23 of the patent application scope, wherein the I MU simulation module includes a Gyroscope measurement model 卩 Gyroscope error model, an accelerometer model, an accelerometer error model 'and an I MU signal synthesis module, the six degree of freedom trajectory data generated by the six degree of freedom trajectory generator drives the gyroscope The measurement model and the P-dagger gyroscope error model simulate the characteristics and performance of a real gyroscope to form simulated gyroscope measurements and errors, and use an adder to combine the two together; the six-degree-of-freedom trajectory The six-degree-of-freedom tracking data generated by the generator drives the accelerometer measurement model and the accelerometer error template to simulate a real accelerometer characteristic and performance to form a simulated acceleration leaf measurement and error 'and use an addition Combine the two together; the simulated gyroscope and accelerometer measurement data are provided by the MU signal synthesis module Page 56 576928 90116794 Amendment 6. Scope of patent application Processing to meet specific agreement. 3 3. The coupled real-time differential 1 true system as described in item 24 of the patent application scope, wherein the IMU simulation module includes-a gyroscope measurement model-a gyroscope error model, an accelerometer model, and an accelerometer error = model , And an IMU signal synthesis module, the six-degrees-of-freedom tracking generator's generated six-degrees-of-freedom tracking data drives the gyroscope measurement model and the gyroscope error model to simulate the characteristics and performance of a real gyroscope Use the gyroscope measurement and error to be simulated and add them together using an adder; the six-degree-of-freedom trajectory data generated by the six-degree-of-freedom trajectory generator drives the accelerometer measurement model and The addition = imitation ^-the characteristics and performance of the real accelerometer to form the simulated acceleration j = ri and error, and use an adder to combine the two together; the measured gyroscope and accelerometer measurement data from this The IMU signal synthesis module processes those that meet specific protocols. 3 Imitation 4. First, the light-weight real-time differential GPSMMU as described in item 25 of the scope of patent application .... The system ', wherein the simulation module includes a gyroscope measurement mode and a gyroscope error mode. Accelerometer model,-Accelerometer error: into two :: / Lesson synthesis module, the six-degree-of-freedom trajectory generator ί :: two; trace data drives the gyroscope measurement model and the: error model pair: The characteristics and performance of real gyroscopes are simulated to break through the simulated gyroscope measurements and errors, and the following are the examples: 八 A—4. · »丄 A 丄 一 1 1 The trajectory data of the eight-degree-of-freedom tracking generator drives the accelerometer measurement mode j 'and uses the imitated straight ## model and the accelerometer error model /,-true shell accelerometer characteristics and performance to form simulated acceleration Page 57 576928 Case No. 90116794 July 28, Q2 Amendment VI. Patent application range meter measurement and error, and use an adder to combine the two; the simulated gyroscope and accelerometer measurement data is provided by The IMU signal synthesis module processes those that meet specific protocols. 35. The coupled real-time differential GPS / IMU simulation system according to item 17 of the scope of patent application, wherein the imu input / output interface for IMU simulation includes an analog interface, which is a multi-channel D / A conversion circuit board For generating IMU analog signals, it includes a bus interface circuit, a DMA interface and an interrupt interface. 'They are all connected to the standard bus of the GPS / IMU simulation computer.' The analog interface further includes a connection to the bus interface circuit. A first-in-first-out (FI FO) circuit, and an analog signal conditioner and / or isolator of the signal conditioner and connector board, connected between the DMA interface and the multi-channel D / A conversion circuit A sequential circuit. 36. The coupled real-time differential simulation system as described in item 8 of the patent claim, wherein the I / M input / output interface for IMU simulation includes an analog signal connecting a multi-channel D / A conversion circuit board to an analog signal. 'It includes a bus interface circuit, -DM interface and -interrupt interface. The daggers are all connected to the GPS / IMu. The analog interface is further deducted ^ ^ m in-first-out (FIFO) route, with 3 in the An analog signal conditioner and / or isolation circuit on the main line interface circuit, a timing sequence between the number regulator and a D / A conversion circuit of the connector board is connected between the DMA interface and the multi-channel Real system, which is used for an analog interface, it is a guest, s IMU input / output interface including KD / A conversion circuit board, used to generate IMU Page 58 576928 Emperor 9011fi7W VI. Patent application scope ^ July 28th, amendment = pseudo-number, it includes a bus interface circuit, a test interface and a standard interface connected to the GPS / IMU simulation computer standard The bus, 隹 I: 'port further includes a first = two 0) circuit connected to the bus interface circuit, and -m / node and / or isolator of the signal conditioner and connector board', connected to the Verify a sequential circuit between the interface and the multi-channel conversion circuit. 2 Consumption real-time differential MS / 丨 MU imitation two as described in item 2 of the application scope: / first, where the IMU input / output interface used for IMU simulation includes: ΪΪίσ 'It is-multi-channel The D / A conversion circuit board is used for generating rigid numbers. It includes a bus interface circuit, a DMA interface and an interrupt port-they are all connected to the standard bus f analog interface of the GPS / IMU simulation computer and further include A first circuit (1FIF0) circuit on the bus interface circuit, and the -conditioner and / or isolator of the signal conditioner and connector board are connected between the DMA interface and the multi-channel D / A conversion circuit. Of a sequential circuit. 39 · / The converted real-time differential Gps / 丨 foot imitation "Letong" as described in item 2 丨 of the patent application scope, wherein the IMϋ wheel input / output interface for 11 ^ 11] simulation includes two analog interfaces, which It is a multi-channel D / A conversion circuit board for generating analog signals. It includes a bus interface circuit, a DMA interface and an interrupt interface. They are all connected to the standard bus of the GPS / IMU simulation computer. The analog interface further includes an in-first-out (rig) circuit connected to the bus interface, and an analog signal conditioner and / or isolator of the signal conditioner and connector board, connected to the DMA interface and the multi-channel D / A sequential circuit between A conversion circuits. Page 59 576928 -__ Case No. 90116794 Amended on July 28, 1992 Sixth, the scope of patent application τ 40 · The coupled real-time differential Gps / IMU simulation system as described in the patent application scope item 22, which is used for IMU simulation The IMU input / output interface includes an analog interface, which is a multi-channel D / A conversion circuit board for generating imu analog signals. It includes a bus interface circuit, a DMA interface and an interrupt interface. They are all connected On the standard bus of the GPS / IMU simulation computer, the analog interface further includes a first-in-first-out (FIFO) circuit connected to the bus interface circuit, an analog signal conditioner of the signal conditioner and connector board, An isolator is a sequential circuit connected between the DMA interface and the multi-channel D / A conversion circuit. 41. The coupled real-time differential Gps / IMu simulation system according to item 23 of the patent application scope, wherein the IMU input / output interface for IMU simulation includes an analog interface, which is a multi-channel D / A conversion circuit board It is used to generate the IMU code. It includes a bus interface circuit, a DMA interface and an interrupt interface. Both are connected to the standard bus of the GPS / IMU simulation computer. The analog interface further includes a connection to the A first-in-first-out (FI F0) circuit on the bus interface circuit, and an analog signal conditioner and / or isolator of the signal conditioner and connector board are connected to the DMA interface and the multi-channel D / A conversion circuit A sequential circuit between. 42. The coupled real-time differential Gps / IMU simulation system as described in item 24 of the scope of patent application, wherein the IMU input / output interface for IMU simulation includes two analog interfaces, which is a multi-channel D / A conversion circuit Board for generating imu analog signals, it includes a bus interface circuit, a DMA interface and an interrupt interface >, all of which are connected to the standard bus of the GPS / IMU simulation computer 4 analog interfaces further include connected to the bus First on the interface circuit 576928 _MM 90116794_ July 28, 1992 Amendment VI. Patent application scope First-in-first-out (FIFO) circuit, and an analog signal conditioner and / or isolator of the signal conditioner and connector board, connected to the DM interface and the A sequential circuit between multi-channel D / A conversion circuits. 43 · / The combined real-time differential GPS / IMU simulation system described in item 25 of the scope of patent application 'wherein' the IMU input / output interface for IMU simulation includes = analog interface, which is a multi-channel D / A conversion The circuit board is used to generate the imu frame. It includes a bus interface circuit, an interface and an interrupt interface. They are all connected to the standard bus of the Gps / IMU simulation computer. Including a first connected to the bus interface circuit! Xianshi. (F I F0) circuit, and a one-week amplifier and / or isolator of the signal conditioner and connector board are connected to the DMA interface and a sequential circuit between the multi-channel conversion circuit. The H1 patent application scope described in item 26 is related to real-time difference * GPS / IMU simulation system, straight, field τ α iL ^ Τ The IMU input / output interface package for IMU simulation. Xitong Xiao D / A conversion circuit board is used to generate I Μ ϋ analog signals. The farmer 4 includes a bus interface circuit, a DMA interface, and an interrupt interface. They are old beta and loyalty. Connected to the standard bus of the GPS / I pin emulation computer, the analog interface push_stop at + ^ first-in-first-out (FIFO) includes a first analog signal adjustment connected to the bus interface circuit * / and the signal adjustment The one or isolator of the connector and connector board is connected between the DMA interface and the multi-channel switching circuit-a sequential circuit. 4 5 · According to the patent Φ master m simulation system, its light-weight real-time differential GPS / IMM as described in item 17 of the communication control circuit: Tian This serial signal interface is a multi-channel "422/485 anti- Generate an IMU serial signal, which consists of the GPSMMU Page 61 576928 _____ Case No. 90116794 J2 --- 6. A patented patent application scope computer connected to the standard bus of a bus interface circuit, connected between the bus interface circuit and the GPS / IMU computer's standard bus An interrupt interface, a discrete logic circuit connected between the bus connection t? Circuit and a serial signal conditioner and quick connector of the h number regulator and the connector board, and connected between the bus interface circuit and the signal A serial signal conditioner and connector for the conditioner and connector board! An RS-485 interface circuit component. 46. The real-time differential GPS / IMU simulation system as described in item M of the patent application scope, wherein the serial signal switching port is a multi-channel RS4 2 2/48 5 communication control circuit board for generating an IMU serial Signal, which is a bus interface circuit connected to the standard bus of the GPS / IMU simulation computer, connected to an interrupt interface between the bus interface circuit and the standard bus of the Gps / 丨 MU computer, and connected to the bus A discrete logic circuit 'between the interface circuit and the signal conditioner and a serial signal conditioner and connector of the connector board and a serial signal connected between the bus interface circuit and the signal conditioner and connector board An r S-4 8 5 interface circuit composer between the regulator and the connector. 47. The coupled real-time differential GPS / IMU simulation system according to item 19 of the patent application scope, wherein the serial signal interface is a multi-channel 422/485 communication control board for generating IMU serial signals. It consists of a bus interface circuit connected to the standard bus of the Gps / IMU emulation computer, connected to the = bus interface between the = bus interface circuit and the standard bus of the Gps / IMU computer, and connected to the bus A discrete logic circuit between the interface circuit and a serial signal conditioner and connector of the signal conditioner and connector board Page 62 576928 --- Lily 90116794_Q2 July 28th amendment ___ 6. Patent application scope τ Road, and a serial signal conditioner and connection connected to the bus interface circuit and the signal conditioner and connector board An RS-485 interface circuit composer between devices. 48. The coupled real-time differential Gps / IMU simulation system as described in item 20 of the scope of patent application, wherein the serial signal interface is a multi-channel "422/485 through k control circuit board for generating IMU serial signals, It consists of a bus interface circuit connected to the standard bus of the GPS / IMU simulator, a interrupt interface connected between the bus interface circuit and the standard bus of the GPS / IMU computer, and connected to the bus interface. A discrete logic circuit between the circuit and the signal conditioner and a serial signal conditioner and connector of the connector board and a serial signal conditioner connected between the bus interface circuit and the signal conditioner and connector board An RS_485 interface circuit component between the connector and the connector. 49. The coupled real-time differential GPS / IMU simulation system as described in item 21 of the patent application scope, wherein the serial signal interface is a multi-channel 422/48 5 The communication control circuit board is used to generate IMU serial signals. It is a bus interface circuit connected to the standard bus of the GPS / IMU simulator. It is connected to the bus interface circuit and the GPS / IMU meter. Interrupt interface between the machine standard bus, the bus interface circuit connected to the signal conditioner and connected A discrete logic circuit between a serial signal conditioner of the connector board and the connector, and a serial number controller and connector connected between the bus interface circuit and the signal conditioner and connector board One RS-4 8 5 interface circuit composer. 5 〇 · Coupled real-time differential GPS / IMU as described in item 22 of the scope of patent application Page 63 576928 VI. Patent application scope Simulation system, its communication control circuit, the bus interface of the computer, an interrupt interface, a series of connector boards, and a serial signal connected to. 51. If the simulation is a patent application for a communication control simulation meter, the bus interface of the circuit making machine is an interrupt interface, and a series of patent applications for the connector board. Use the mark path and the link signal path, and a serial signal connected to the master to adjust the signal. 5 2 · If the simulation is communication control simulation, the bus case number is 90116794. The serial signal interface is a multi-channel RS422 / 485 board for generating IMU serial signals. It is connected to the gps / IMU standard bus. A bus interface circuit connected between the road and the standard bus of the GPS / I MU computer. A discrete logic circuit between the bus interface circuit and the signal conditioner and the serial signal conditioner and connector. An RS-485 interface circuit group between the interface circuit and the signal conditioner and the connector board conditioner and connector. The coupled real-time differential gps / imu described in item 23 The serial signal interface is a multi-channel RS42 2 / 48 5 for generating an IMU serial signal, which is composed of a bus interface circuit connected to the GPS / IMU quasi-bus, and connected between the standard bus of the GPS / IMU computer at the bus interface circuit and the signal conditioner An RS-48 5 interface circuit group between the discrete logic wire interface circuit between the serial conditioner and the connector and the signal conditioner and the connector board and the connector, please couple as described in item 24 of the scope real time In differential gps / IMU, the serial signal interface is a multi-channel RS422 / 485 board for generating IMU serial signals. It consists of a bus interface circuit connected to the GPS / IMU standard bus and connected to the GPS on the road. / IMU computer between the standard bus Page 64 576928 90116794 Amendment, July 2nd, 1992. Application scope: An interrupt interface connected between the bus interface circuit and a serial signal conditioner and connector of the signal conditioner and connector board. A discrete logic circuit, and a _M_ 4 8 5 interface circuit composed of a serial k-number regulator and connector connected between the bus interface circuit and the signal conditioner and connector board. 53. The coupled real-time differential GPS / IMU simulation system according to item 25 of the scope of patent application, wherein the serial signal interface is a multi-channel RS422 / 485 communication control circuit board for generating an IMU serial signal. A bus interface circuit connected to the standard bus of the Gps / IMU simulation computer, an interrupt interface connected between the bus interface circuit and the standard bus of the GPS / IMU computer, connected between the bus interface circuit and the signal conditioning A discrete signal circuit between a serial signal conditioner and the connector of the connector and the connector board, and a serial signal conditioner and connector of the serial interface between the bus interface circuit and the signal conditioner and the connector board A Rs_48 5-interface circuit composer. 5 4 · The light-weight real-time differential p $ / I μ u simulation system as described in item 26 of the patent application scope, where the serial signal interface is a multi-channel communication controller, and the circuit board is used to generate IMU strings. Line signal, which is a bus interface circuit connected to the standard bus of the Gps / IMU simulator, connected to an interrupt interface between the $ bus interface circuit and the standard bus of the GPS / IMU computer, and connected to A discrete logic circuit between the bus interface circuit and a serial signal conditioner and connector of the signal conditioner and connector board and a serial connection between the bus interface circuit and the signal conditioner and connector board An RS_48 5 interface circuit group between the signal conditioner and the connector Page 65 576928 July 28th Amendment Gu 90m, Sixth, the applicant for the scope of patent application.仂 · # ΐ Ϊ 申 申 申 Real-time differential GpVIMU described in item 17 of the scope of application. Η 客 客; Φ τ '' The pulse signal is digitally controlled by the frequency generator circuit board π m pulse. The GPS / IMU emulation computer's I ♦ two bus interface circuits connected to the bus interface circuit "^ an interrupt connection between the standard bus of the emulation computer ^ a multi-channel digital-to-frequency connection to the jw line interface circuit The conversion circuit is connected between the multi-channel digital-to-frequency conversion circuit and the -INC / DEC pulse isolation circuit component between the signal conditioning and the -pulse signal conditioner and connector of the connector board. 56. For example, The coupled real-time differential GPS / IMU simulation system described in item 8 of this application is used to generate a 1 ° pulse signal from the pulse signal digital control frequency generator circuit board. It is simulated by the computer with the GPS / IMU. The standard bus connection—bus interface material, an interrupt interface connected between the bus interface circuit and the standard bus of the GPS / IMU simulation computer, and a multi-channel digital connected to the bus interface circuit "Inc / DEC Pulse Isolation Circuit" is composed of the "frequency conversion circuit" and a pulse signal conditioner and connector connected between the multi-channel digital-to-frequency conversion circuit and the signal conditioner and connector board. 57 · The coupled real-time differential GPS / imu simulation system as described in item 19 of the patent application scope, wherein the pulse signal digitally controlled frequency generator circuit board is used to generate an IM pulse signal, which is calculated from the GPS / IMU simulation ^ A bus interface circuit connected to a standard bus is connected to an interrupt connection between the bus interface circuit and the standard bus of the GPS / IMU simulation computer. 576928 _t ^ _J0H6794 ~ July 28, year ^ Amendment VI. Patent application scope port 4 with the bus interface Thunder, and a multi-channel digital-to-frequency conversion appliance and connector board connected to the multi-pass, f = —Pulse; number: composed of the INC / DEC pulse isolation circuit between the frequency conversion circuit and the signal conditioning-INC / DEC rr round r regulator and connector. 5 8 · Such as patent application tendons in knots. Λ Simulation system, in which the real-time differential conversion described in item ㈣ is just used to generate rigid pulses 冲 Digital control frequency generator circuit board standard bus phase V-line technique is connected with the GPS / IMU # true computer The GPS / IMU imitation straight ^ VW port circuit is connected to the bus interface circuit port, an interruption circuit between the bus interface and the f standard bus of the electrical interface, and a multi-pass, f ^ one Multi-channel digital-to-frequency conversion appliances and connector board-pulse; =: the circuit and the signal conditioning Chong isolation circuit. … Between the connectors 5 9. The simulation system according to the patent application [9], ^ simulation system, wherein the coupled real-time differential GPS / IMU described in the item is used to generate IMU pulses 俨 V digital control frequency generator circuit board standard Bus-connected: the line 'connecting the GPS / 该 # from the real computer to the GPSWMU is directly connected to the bus interface circuit port and the bus interface ^ road ^ the ^ ^ bus-interrupt Connect and connect the digital to frequency conversion appliances and connector boards of the multi-channel, first-ever evening channel—pulse $: to? Rate conversion circuit is composed of this signal conditioning -INC / DEC pulse isolation circuit. . Between 60 0. As in the patent application fan in flute $ q =, the simulation system, the face described in the above item is a real-time difference,! MU The pulse signal is digitally controlled by the frequency generator circuit board, amended on 576928, case number 90116794 Sixth, the scope of the patent application is ΐϊί ίΓ. It is a red signal, which is composed of two bus interface circuits connected to the GPS / IM_real computer and the I / II / T, and is connected to the bus interface circuit. A multi-channel digital-to-frequency conversion circuit connected between the standard bus, the w, and the spring interface circuit and the digital-to-frequency conversion circuit connected to the signal conditioner and connector board -INC / DEC pulse isolation circuit composed of a pulse signal conditioner and connector. 61. The coupled real simulation system as described in item 23 of the patent application scope, wherein the pulse signal digital control frequency generator circuit board is used to generate an IMU pulse signal, which is controlled by the standard bus of the Gps / IMU simulation computer. Connected—bus interface circuit, an interrupt interface connected between the bus interface circuit and the standard bus of the GPS / IMU simulation computer ', a multi-channel digital-to-frequency conversion circuit connected to the bus interface circuit, and connection The -INC / DEC pulse isolation circuit composes between the multi-channel digital-to-frequency conversion circuit and a pulse signal conditioner and connector of the signal conditioning connector board. 62. The coupled real-time differential Gps / uu simulation system as described in item 24 of the patent application scope, wherein the pulse signal digitally controlled frequency generator circuit board is used to generate an IMU pulse signal, which is used by the GPS / IMU simulation computer. A bus interface circuit connected to the standard bus, connected to the bus interface # = an interrupt interface between the standard bus of the GPS / IMU simulation computer, and a multi-channel digital connection to the bus connection circuit. A frequency conversion circuit, and a pulse signal conditioner and connector connected between the multi-channel digital-to-frequency conversion circuit and the signal conditioner and connector board Page 68 576928 Case No. 9011fi7Qzl Sixth, the scope of patent application-INC / DEC pulse isolation circuit. 63. The coupled real-time differential GPS / IMU simulation system according to item 25 of the patent application scope, wherein the pulse signal digitally controlled frequency generator circuit board is used to generate an IMU pulse signal, which is composed of A bus interface circuit connected to the standard bus, an interrupt interface connected between the bus interface circuit and the standard bus of the GPS / IMU simulation computer 'a multi-channel digital-to-frequency conversion circuit connected to the bus interface circuit' And -INC / DEC pulse isolation circuit connected between the multi-channel digital-to-frequency conversion circuit and the signal conditioner and a pulse signal conditioner and connector connected to the is board. 64. The coupled real-time differential GPS / IMU simulation system according to item 26 of the patent application scope, wherein the pulse signal digitally controls the frequency generator circuit board 1 to generate a 1MU pulse signal, which is simulated by the GPS / IMU simulation computer. A bus interface circuit connected to the "quasi-L line", an interruption connection between the bus interface circuit and the standard bus of an AGPS / IMU simulation computer: | a multi-channel digital to frequency connected to the bus interface circuit The conversion circuit is a component of the INC / DEC pulse isolation circuit connected between the multi-channel digital-to-frequency conversion circuit and a pulse signal conditioner and connector of the signal conditioning board. 11 range of the light-weight real-time differential gps / imu and bus interface circuits, and: the middle f line digital signal interface is interconnected by two sets of interrupt interface line interface circuits:,: the interrupt interface of the first group And the total standard bus μ = sub, respectively, with the gps / im emulation computer, the interrupt interface and the bus interface of the second group are electrically connected. Page 69 576928-~ MM 90116794, July 28th of the year of travel ___ Sixth, the scope of patent application f is also connected to each other, and connected to a standard bus of the GPS / INS navigation computer, the first bus interface circuit and The second bus interface circuit is connected. 66. The coupled real-time differential GPS / IMU simulation system according to item 18 of the patent application scope, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces and bus interface circuits, wherein the interrupt interface of the first group and the The bus interface circuits are connected to each other, and are respectively connected to the standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface circuit of the second group are also connected to each other, and are respectively connected to a GPS / INS navigation computer. Standard bus connection: The first bus interface circuit is connected to the second bus interface circuit. 67. The coupled real-time differential GPS / IMU simulation music system as described in item 19 of the patent application scope, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces and bus interface circuits, wherein the interrupt interface of the first group and The f-port circuits of the bus are connected to each other, and are connected to the far standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface of the second group are also connected to each other, and are respectively connected to the GPS / I NS navigation. A standard bus of the computer is connected to the first bus interface circuit and the second bus interface circuit. 68. The coupled real-time differential GPS / IMU simulation music system as described in item 20 of the patent application scope, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces, i.e., and spring interfaces, where the first group of the The interrupt interface and the bus f-port circuit are connected to each other, and are respectively connected to the " Hai standard bus of the GPS / IMU simulation computer; the interrupt interface of the second group and the bus interface are electrically connected. 576928-: --- SS_i〇U6794_98. July 28th, 佟 t _ Sixth, the scope of patent application ~ a Γ1 All the way are also connected to each other, and are connected to a standard, ... line of the GPS / INS navigation computer respectively The first bus interface circuit is connected to the second bus interface circuit. 69. The coupled real-time differential GPS / IMU simulation system according to item 1 of the scope of patent application, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces and, ... ,, and spring interface circuits, wherein the first set of the The interrupt interface and the bus and port circuits are connected to each other and are respectively connected to the standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface circuit of the second group are also connected to each other and are respectively connected to the GPS / INS A standard bus of the navigation computer is connected to the first bus interface circuit and the second bus interface circuit. 70. The coupled real-time differential GPS / IMU simulation system according to item 22 of the scope of patent application, wherein the parallel digital signal interface is composed of two groups of interrupt interfaces and bus interface circuits, and the interrupt interface of the first group and The bus interface circuits are connected to each other and to the standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface circuit of the second group are also connected to each other and to the GPS / I NS navigation computer respectively. A standard bus is connected, and the first bus interface circuit is connected to the second bus interface circuit. 71. The coupled real-time differential GPS / IMU simulation system according to item 23 of the patent application scope, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces and bus interface circuits, wherein the interrupt interface of the first group and the The bus interface circuits are connected to each other and are respectively connected to the standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface of the second group are electrically connected. Page 71 576928 ____ ^^ _ 90116794 _----------_ VI. The range of patent applications is also connected to each other and is connected to a standard bus of the GPS / I NS navigation machine separately. The first bus interface The circuit is connected to the second bus interface circuit. 72. The coupled real-time differential GPS / IMU simulation system according to item 24 of the scope of patent application, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces and bus interface circuits, wherein the interrupt interface of the first group and the The bus interface circuits are connected to each other and to the standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface circuit of the second group are also connected to each other and are respectively connected to a standard of the GPS / INS navigation computer. The bus is connected, and the first bus interface circuit is connected to the second bus interface circuit. 73. The coupled real-time differential GPS / IMU simulation system according to item 25 of the patent application scope, wherein the parallel digital signal interface is composed of two sets of interrupt interfaces and bus interface circuits, wherein the interrupt interface of the first group and the The bus interface circuits are connected to each other and to the standard bus of the GPS / IMU simulation computer; the interrupt interface and the bus interface circuit of the second group are also connected to each other and are respectively connected to a standard of the GPS / INS navigation computer. Bus-connected: The first bus interface circuit is connected to the second bus interface circuit. 74. The coupled real-time differential GPS / IMU simulation as described in item 26 of the scope of patent application ^ ,,, first, where the 'parallel digital signal interface consists of two groups of interrupt interfaces and bus interface circuits, where the interrupts of the first group The interface and the bus interface circuit are connected to each other, and are respectively connected to the standard line of the GPS / IMU simulation computer, and the interrupt interface and the bus interface circuit of a group of brothers are also Page 72 576928 factory ____ 90116794_M; July 7, 28th amendment __ 6. The scope of patent application f is interconnected and connected to a standard bus of the GPS / INS navigation computer respectively. The first bus interface circuit is connected to the The second bus interface circuit is connected. 75. The coupled real-time differential Gps / IMU simulation system as described in item 7 of the patent application scope, further including a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom track generator and the combined GPS / INS navigation system, it determines by comparing the real-time tracking data from the six-degree-of-freedom tracking generator with the carrier tracking data from the integrated GPS / INS output from the integrated GPS / INS navigation system Whether the combined GPS / INS navigation system works properly and evaluates performance. 76. The coupled real-time differential GPS / IMU simulation system as described in item 18 of the scope of patent application, further comprising a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combined GPS / INS Between navigation systems' it determines the combined GPS / Whether the INS navigation system is working properly and assessing performance. 77. The coupled real-time differential GPS / IMU simulation system as described in item 19 of the scope of patent applications, further comprising a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combined GPS / Between INS navigation systems' It determines the real-time tracking data from the six-degree-of-freedom tracking generator by comparing the vehicle tracking data with the combined GPS / INS output from the integrated GPS / INS navigation system Whether the integrated GPS / INS navigation system is working properly and assessing performance. Page 73 576928 —— Case No. 901167Q4_ ^ Noon July 28th 倏 _ VI. Patent application scope f 78 · Coupled real-time differential GPS / IMlJ simulation system described in item 20 of the patent application scope, including a data The acquisition and performance evaluation system is independently connected between the six-degrees-of-freedom trajectory generator and the combined GPS / INS navigation system. It compares the real-time trajectory data from the six-degrees-of-freedom trajectory generator with the The carrier tracking data of the combined GPS / INS solution output by the combined GPS / INS navigation system is used to determine whether the combined GPS / INS navigation system is working properly and evaluate the performance. 79. The coupled real-time differential GPS / IMU simulation system as described in item 21 of the scope of patent application, further comprising a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom track generator and the combined GPS / Between the NS navigation systems, it is determined by comparing the real-time trajectory data from the six-degree-of-freedom tracking generator with the carrier trajectory data solved by the combined GPS / I NS output from the combined GPS / 丨 NS navigation system. Whether the combined GPS / INS navigation system works properly and evaluates performance. 80. The coupled real-time differential GPS / IMU simulation system as described in item 22 of the scope of patent application, further comprising a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combined GPS / Between INS navigation systems' it determines the real-time trajectory data from the six-degree-of-freedom trajectory generator and the carrier track data solved by the combined GPS / I NS output from the combined GPS / I NS navigation system. Whether the combined GPS / INS navigation system works properly and evaluates performance. 81. The coupled real-time differential Gps / IMl] simulation system as described in item 23 of the scope of patent application, further comprising a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom track generator and the combined GPS / I NS Navigation System Page 74 576928 _ Case No. 90116794 .July 28th, 1992 倏 __ 6. Between the scope of patent application, it compares the real-time tracking data from the six-degree-of-freedom trajectory generator with the combined GPS The carrier tracking data from the combined GPS / INS output by the / INS navigation system is used to determine whether the combined GPS / INS navigation system is working properly and evaluate the performance. 82. The coupled real-time differential GPS / IMU simulation system as described in item 24 of the scope of patent application, further comprising a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom track generator and the combined GPS / Between INS navigation systems' it determines the real-time tracking data from the six-degree-of-freedom tracking generator and the carrier tracking data from the integrated GPS / INS output from the integrated GPS / INS navigation system to determine the Whether the integrated GPS / INS navigation system is working properly and assessing performance. 8 3 · The coupled real-time differential GPS / IMU simulation system as described in item 25 of the patent application scope, further including a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combination Between GPS / INS navigation systems' It determines the combination by comparing the real-time trajectory data from the six-degree-of-freedom trajectory generator with the carrier trajectory data derived from the combined GPS / INS output from the combined GPS / INS navigation system. Whether the GPS / INS navigation system is working properly and assessing performance. 84. The coupled real-time difference * Gps / IMU simulation system described in item 26 of the patent application scope includes a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combined GPS / Between INS navigation systems' it determines the combination by comparing the real-time trajectory data from the six-degree-of-freedom track generator with the carrier track data from the combined GPS / INS solution output from the combined GPS / INS navigation system. Is GPS / 丨 NS navigation system working? Page 75 576928-No. 901 Brain 4_Noon July 1st 2ft Amendment __ Sixth, the scope of patent application f is normal, and the performance is evaluated. 85. The coupled real-time differential GPS / IMU simulation system as described in item 44 of the scope of patent application, including a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom track generator and the combined GPS / INS Between navigation systems' It determines the combined GPS by comparing the real-time trajectory data from the six-degree-of-freedom trajectory generator with the carrier track data derived from the combined GPS / INS output from the New GPS / INS navigation system. / INS Navigation system is working properly and evaluate performance. 86. The coupled real-time differential GPS / IMU simulation system as described in item 54 of the scope of patent application, including a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combined GPS / INS navigation Between systems' It determines the combined GPS / I by comparing the real-time trajectory data from the six-degree-of-freedom tracking generator with the carrier trajectory data derived from the combined GPS / INS output from the combined GPS / INS navigation system. Are NS navigation systems working properly? And assessing performance. 87. The coupled real-time differential GPS / IMU simulation system as described in item 64 of the scope of patent application, including a data acquisition and performance evaluation system, which is independently connected to the six-degree-of-freedom trajectory generator and the combined GPS / INS Between the navigation systems' it determines the track data from the real-world temple from the six-degree-of-freedom track generator and the carrier track data from the combined GPS / INS solution output from the combined GPS / INS navigation system. Whether the combined GPS / I NS navigation system works properly and evaluates performance ~. 88. The coupled real-time differential GPS / IMU simulation system as described in item 74 of the scope of patent application, including a data acquisition and performance evaluation system, which is independently 576928 銮 90116794 1992 7J _ Amendment VI. The scope of patent application is connected between the six-degree-of-freedom trajectory generator and the combined GPS / INS guidance system. The real-time tracking data and the carrier trajectory data extracted from the combined GPS / INS output from the combined GPS / INS navigation system are used to determine whether the combined GPS / I NS navigation system is working properly and evaluate the performance. Chapter 77