WO2013010656A2 - Platform relative navigation using range measurements - Google Patents

Platform relative navigation using range measurements Download PDF

Info

Publication number
WO2013010656A2
WO2013010656A2 PCT/EP2012/002953 EP2012002953W WO2013010656A2 WO 2013010656 A2 WO2013010656 A2 WO 2013010656A2 EP 2012002953 W EP2012002953 W EP 2012002953W WO 2013010656 A2 WO2013010656 A2 WO 2013010656A2
Authority
WO
WIPO (PCT)
Prior art keywords
relative
platform
state space
transmitter
positioning signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2012/002953
Other languages
French (fr)
Other versions
WO2013010656A3 (en
Inventor
Jan Wendel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus DS GmbH
Original Assignee
Astrium GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Astrium GmbH filed Critical Astrium GmbH
Priority to CN201280033923.6A priority Critical patent/CN103827688B/en
Priority to AU2012286233A priority patent/AU2012286233B2/en
Priority to RU2014105501A priority patent/RU2606240C2/en
Priority to US14/131,444 priority patent/US9645243B2/en
Publication of WO2013010656A2 publication Critical patent/WO2013010656A2/en
Publication of WO2013010656A3 publication Critical patent/WO2013010656A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/15—Aircraft landing systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements

Definitions

  • Platform relative navigation using range measurements TECHNICAL FIELD
  • the invention relates to a method for platform relative navigation using range measurements according to claim 1.
  • UAV unmanned aerial vehicle
  • GNSS Global Navigation Satellite System
  • a navigation system which is capable to provide the required relative position and attitude information consists of four or more transponders onboard the ship and three or more antennas onboard the UAV.
  • the antennas transmit interrogation signals which are replied by the transponders. Then, these replies are received by the antennas. The time between transmission of an interrogation signal and the reception of a reply is measured, which allows to calculate the range between antenna and replying transponder.
  • the Doppler shift of the received signal can be measured, too, which can be converted to a measurement of the relative velocity between antenna and transponder.
  • synchronised pseudolites can be used, too. These pseudolites transmit signals similar to GNSS-signals, which are received by the antennas onboard the UAV. In such a scenario, the UAV does not have to transmit signals, but the range measurements are biased by the offset of the receiver clock, and the Doppler measurements are biased by the frequency error of the receiver clock.
  • the principle idea of the invention is to estimate the relative position and attitude of the UAV body frame with regard to the ship directly instead of estimating the relative antenna positions of a UAV (second object) with regard to a ship (first object), as described in the publication "Stand-Alone Ship- Relative Navigation System Based on Pseudolite Technology”; Aulitzky, C; Heinzinger, O.; Bestmann, U.; Hecker, P.; " AIAA Guidance, Navigation, and Control Conference, 10 -13 August 2009, Chicago, Illinois, USA, which is incorporated herein by reference.
  • a state space estimation algorithm such as a Kalman filter, a Sigma-Point filter, or other filters, either in a total state space or an error state space formulation.
  • the inventive approach offers the following advantages: the number of unknowns to be estimated does not grow with the number of antennas; Doppler measurements can be considered; the range measurements made from all antennas to all transponders / pseudolites can be valid at any point in time as long as it is known, it is not required that all antennas make synchronized measurements, which facilitates the use of off-the-shelf distance measurement systems; the measurements of additional sensors like IMU, and radar or laser altimeter can be considered easily.
  • An embodiment of the invention relates to a method for platform relative navigation using range measurements, wherein four or more transmitter of positioning signals are located on and/or near a platform of a first object and a second object approaching the platform comprises three or more receivers for receiving the positioning signals, and wherein the method comprises the acts of performing for each received positioning signal a range measurement between the transmitter of the positioning signal and the receiver of the positioning signal, and estimating the relative position and relative attitude of a body frame of the second object with regard to the first object directly by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object.
  • the estimating of the relative position and relative attitude of a body frame of the second object with regard to the first object may further comprise processing measurements of one or more additional sensors, particularly a radar or laser altimeter.
  • the state space estimation algorithm can be a Kalman filter, a Sigma-Point filter or another filter allowing to perform state space estimation either in a total state space or an error state space formulation.
  • the state space estimation algorithm may comprise an error state space formulation and perform the following iterative acts of assuming a relative position and relative attitude of the second object from the range measurements, estimating errors in the assumed relative position and relative attitude of the second object, and correcting the assumed relative position and relative attitude of the second object based on the estimated errors.
  • the state space estimation algorithm can implement the following system differential equation for estimating errors in the assumed relative position and relative attitude of the second object:
  • ⁇ 5 denotes errors in the relative attitude
  • n x form a system noise vector
  • An assumed relative attitude of the second object may be propagated in a filter prediction step of the state space estimation algorithm using measurements of additional sensors, particularly an inertial measurement unit.
  • the state space estimation algorithm can model a range measurement Ay between j-th transmitter and i-th receiver as follows:
  • l T,j denotes the position of the j-th transmitter
  • n py denotes range measurement noise
  • the position of the i-th receiver r A,i is given by
  • Y o b denotes the position of the origin b of the body frame of the second object
  • 1 denotes a lever arm from the origin *3 ⁇ 4 of the body frame of the second object to the i-th receiver
  • C denotes a direction cosine matrix that transforms from the body frame of the second object to the body frame of the first object, wherein this direction cosine matrix is related to an assumed direction cosine matrix via the relative attitude errors.
  • the system model implemented by the state space estimation algorithm may be augmented with relative velocity error states, and the method may further comprise the acts of performing with each received positioning signal a Doppler measurement, and estimating the relative velocity of the body frame of the second object with regard to the first object by processing the Doppler measurements with the augmented state space estimation algorithm.
  • a further embodiment of the invention relates to a computer program, which implements a method according to the invention and as described herein and enabling platform relative navigation when executed by a computer.
  • a record carrier storing a computer program according to the invention may be provided, for example a CD-ROM, a DVD, a memory card, a diskette, or a similar data carrier suitable to store the computer program for electronic access.
  • a further embodiment of the invention relates to a computer being configured by a computer program of the invention and as described herein for platform relative navigation.
  • the computer may be for example located on board of a UAV and process positioning signals received via UAV antennas from transmitters located on or near a platform for controlling an automatic and autonomous landing approach procedure of the UAV.
  • a further embodiment of the invention relates to a device for platform relative navigation
  • a device for platform relative navigation comprising a range measurement unit for performing for a received positioning signal a range measurement between a transmitter of the positioning signal located on and/or near a platform of a first object and a receiver of a second object approaching the platform, with which the positioning signal is received, and processing means for estimating the relative position and relative attitude of a body frame of the second object with regard to the first object by processing range measurements between transmitter of positioning signals and receiver of the positioning signals with a state space estimation algorithm implementing a model of the system of the first and second object, wherein the processing means are configured to perform a method of the invention and as described herein.
  • a yet further embodiment of the invention relates to a vehicle, particularly a UAV, comprising three or more receivers for receiving positioning signals emitted by four or more transmitter located on and/or near a platform of another vehicle, and a device of the invention and as described herein.
  • a yet further embodiment of the invention relates to a system for platform relative navigation using range measurements comprising four or more transmitter of positioning signals, which are located on and/or near a platform of a first object, three or more receivers for receiving the positioning signals, which are located on board of a second object approaching the platform, and a device of the invention and as described herein.
  • a transmitter of a positioning signal may be implemented as a transponder being adapted to reply to an interrogation signal transmitted by a receiver with a reply signal, and a receiver may be adapted to receive as positioning signal the reply signal from the transponder and to measure the time between transmission of the interrogation signal and the reception of the reply signal, wherein the measured time is processed for a range measurement.
  • a transmitter of a positioning signal may be implemented as a pseudolite being adapted to emit a GNSS similar signal as positioning signal, wherein several pseudolites located on and/or near the platform of the first object are synchronized, and a receiver may be adapted to receive a positioning signal from a pseudolite and to measure the transmission time of the positioning signal, wherein the measured transmission time is processed for a range measurement.
  • Fig. 1 shows an example of the system geometry of a UAV with 3 antennas approaching a landing platform on a ship, which comprises 4 transponder emitting positioning signals;
  • Fig. 2 shows an embodiment of a device for platform relative navigation according to the invention.
  • Embodiments of the present invention are described with regard to a (landing) platform of a ship (first object) and a UAV (second object) approaching the landing platform.
  • the invention is not restricted to this application, but can be applied to any kind of relative navigation of a second object with regard to a first object.
  • Communication between the objects is performed by means of RF (Radio Frequency), even if other communication means are also possible such as optical communication technologies.
  • Fig. 1 shows a system geometry example, with which the present invention can be used.
  • a UAV is denoted by O b , which is the origin of the UAV's body frame.
  • the UAV further comprises 3 antennas A1-A3 as receivers for positioning signals.
  • the distances between the antennas A1-A3 and the body frame origin 0*, are denoted with l , which are lever arms of the antennas A1-A3 with regards to the origin
  • a landing platform for the UAV on a ship is marked with 4 transmitters T1-T4, which are located at the corners of the platform.
  • the origin of the ship and of a common coordinate system for relative navigation is denoted with O s .
  • the positions of the antennas A1-A3 in the common coordinate system are denoted with the vectors ⁇ ⁇ , ⁇ - ⁇ ,3 and the positions of the transmitters T1-T4 are denoted with the vectors ⁇ ⁇ , ⁇ - ⁇ ,4-
  • the transmitters T1-T4 can be implemented as transponders, which transmit positioning signals upon receipt of interrogation signals transmitted by the UAV via the antennas A1-A3.
  • the transmitters T1-T4 can also be implemented as pseudolites, which transmit their positioning signals without receiving an interrogation signal.
  • the positioning signals transmitted by the transmitters T1-T4 can be similar to or even identical with GNSS signals such as positioning signals from the GNSS GPS (Global Positioning System) or the planned European GNSS GALILEO.
  • the positioning signals can be code multiplexed signals containing a navigation message with the positions ⁇ ⁇ , ⁇ - ⁇ ,4 of the transmitters T1-T4.
  • Each transmitter may possess its own unique code sequence for coding a transmitted positioning signal so that a receiver of a positioning signal can determine its transmitter.
  • the relative position and attitude of the UAV body frame with regard to the ship is estimated directly.
  • This can be done with a Kalman filter, a Sigma-Point filter, or other state space estimation filters (algorithms), either in a total state space or an error state space formulation.
  • a Kalman filter for relative navigation is described in the publication "Stand-Alone Ship-Relative Navigation System Based on Pseudolite Technology”; Aulitzky, C; Heinzinger, O.; Bestmann, U.; Hecker, P.; " AIAA Guidance, Navigation, and Control Conference, 10 -13 August 2009, Chicago, Illinois, USA, in detail.
  • the applied filter or state space estimation algorithm can be implemented either at least partly in software, for example in a computer program, which can be executed by a processor, or in hardware, for example in an integrated circuit such as a navigation processor.
  • the implementation of the filter receives as inputs range measurements and outputs relative navigation data, which can for example be processed by an automatic positioning system of the UAV for automatically landing the UAV on the platform of the ship.
  • an error state space formulation of an implementation of a state space estimation algorithm (filter) according to the invention shall be considered for illustrating the inventive concept.
  • the filter estimates the errors in the assumed relative position and attitude of the UAV. These estimated errors are then used to correct the assumed relative position and attitude.
  • a suitable system differential equation implemented by the filter is given by
  • a range measurement p v (pseudorange) between transmitter j and receiving antenna i can be modelled as follows (the superscript "s” denotes "ship” as the origin of the common coordinate system which is the ship's origin O s ): (equation 2)
  • the range measurement noise is denoted with n p>
  • the position of the i-th antenna is given by
  • Equation 3 Equation 3
  • C * denotes the direction cosine matrix that transforms from the UAV body frame to the ship body frame.
  • This direction cosine matrix is related to the assumed direction cosine matrix via the relative attitude errors of the UAV.
  • the above equation allows determining the relative position rob of the UAV body frame directly with regard to the ship.
  • the above described system and measurement models allow developing a suitable filter implementation.
  • the system model can be augmented with three relative velocity error states leading to a nine-state filter. If range and Doppler measurements are biased by UAV clock and frequency error, the system and measurement models can be augmented accordingly, too. It is understood that if the absolute UAV attitude is known, the relative position and velocity information can be transformed easily to e.g. a local level coordinate system.
  • Fig. 2 shows a relative navigation device 10, which can for example be installed on board of a UAV and used to generate relative navigation data, which can be processed for controlling an automatic landing of the UAV on the landing platform of a ship.
  • Device 10 comprises a range measurement unit 12 and processing means 14. It receives as input positioning signals received via antennas A r A 3 and measurements from an IMU 16.
  • the range measurements unit 12 performs for each received positioning signal a range measurement p 0 in order to determine a pseudorange between the transmitter of the positioning signal and the receiving antenna.
  • the performed range measurements p y are supplied by the range measurement unit to the processing means 14 for generating relative navigation data 18.
  • the processing means 14 comprise a Kalman filter as state space estimation algorithm implementing a model of the system of the ship and the UAV.
  • the Kalman filter implements the above equations 1 -3 for processing the range measurements and, furthermore, uses the measurements received from the IMU 16 for assuming a relative attitude of the UAV for propagation in the Kalman filter prediction step.
  • the range measurement unit 12 and/or the processing means 14 can be implemented in soft- or hardware.
  • the present invention platform enables a relative navigation using range measurements, wherein the number of unknowns to be estimated does not grow with the number of antennas, Doppler measurements can be considered, and the measurements of additional sensors like IMU, and radar or laser altimeter can be considered easily.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for platform relative navigation using range measurements, wherein - four or more transmitter (T1-T4) of positioning signals are located on and/or near a platform of a first object and - a second object approaching the platform comprises three or more receivers (A1-A3) for receiving the positioning signals, and wherein the method comprises the acts of - performing for each received positioning signal a range measurement between the transmitter of the positioning signal and the receiver of the positioning signal, and - estimating the relative position and relative attitude of a body frame of the second object with regard to the first object by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object.

Description

DESCRIPTION
TITLE
Platform relative navigation using range measurements TECHNICAL FIELD The invention relates to a method for platform relative navigation using range measurements according to claim 1.
BACKGROUND
For many applications, the relative position and attitude between two platforms has to be known. These applications include the automatic landing of an unmanned aerial vehicle (UAV) on a fixed or moving platform like a ship, pilot assistance for landing, ship docking assistance, and many more. Furthermore, it is desirable that this information is available in GNSS (Global Navigation Satellite System)-denied environments, too. For the sake of simplicity, one of the platforms involved is denoted in the following as ship, the other platform as UAV.
A navigation system which is capable to provide the required relative position and attitude information consists of four or more transponders onboard the ship and three or more antennas onboard the UAV. The antennas transmit interrogation signals which are replied by the transponders. Then, these replies are received by the antennas. The time between transmission of an interrogation signal and the reception of a reply is measured, which allows to calculate the range between antenna and replying transponder.
The Doppler shift of the received signal can be measured, too, which can be converted to a measurement of the relative velocity between antenna and transponder. Furthermore, instead of using transponders onboard the ship, synchronised pseudolites can be used, too. These pseudolites transmit signals similar to GNSS-signals, which are received by the antennas onboard the UAV. In such a scenario, the UAV does not have to transmit signals, but the range measurements are biased by the offset of the receiver clock, and the Doppler measurements are biased by the frequency error of the receiver clock.
A relative navigation system like described above is discussed in the publication "Stand-Alone Ship-Relative Navigation System Based on Pseudolite Technology"; Aulitzky, C; Heinzinger, O.; Bestmann, U.; Hecker, P.; " AIAA Guidance, Navigation, and Control Conference, 10 -13 August 2009, Chicago, Illinois, USA. In the method presented in this paper, the relative position of each antenna with regard to the ship body frame is estimated using a non-linear least squares approach, and constraints are applied to consider the relative geometry between these antennas. Then, the relative attitude is calculated from the relative antenna positions. This solution has several drawbacks:
- The number of unknowns to be estimated grows with the number of antennas. - Doppler measurements cannot be considered.
- The range measurements made from all antennas to all transponders / pseudolites must be valid at the same point in time, otherwise systematic errors are introduced. In other words, it is not possible to sequentially perform measurements, i.e. measuring ranges between the first antenna and the transponders / pseudolites, then measuring ranges with the second antenna, and after that measuring ranges with the third antenna. Such an approach provides range measurements with a different time of validity for each antenna. It is a severe drawback that the method described in the above referenced paper introduces systematic errors in such a scenario, because many off-the- shelf range measurement systems exactly operate that way.
- The measurements of additional sensors like an inertial measurement unit (IMU), and a radar or laser altimeter cannot be considered easily, which is also a severe drawback.
SUMMARY OF INVENTION
Therefore, it is an object of the invention to provide a method for platform relative navigation using range measurements, which is able to overcome at least a part of the above mentioned drawbacks of the known relative navigation system.
This object is achieved by the subject matter of the independent claims. Further embodiments are shown by the dependent claims.
The principle idea of the invention is to estimate the relative position and attitude of the UAV body frame with regard to the ship directly instead of estimating the relative antenna positions of a UAV (second object) with regard to a ship (first object), as described in the publication "Stand-Alone Ship- Relative Navigation System Based on Pseudolite Technology"; Aulitzky, C; Heinzinger, O.; Bestmann, U.; Hecker, P.; " AIAA Guidance, Navigation, and Control Conference, 10 -13 August 2009, Chicago, Illinois, USA, which is incorporated herein by reference. This can be done with a state space estimation algorithm such as a Kalman filter, a Sigma-Point filter, or other filters, either in a total state space or an error state space formulation. The inventive approach offers the following advantages: the number of unknowns to be estimated does not grow with the number of antennas; Doppler measurements can be considered; the range measurements made from all antennas to all transponders / pseudolites can be valid at any point in time as long as it is known, it is not required that all antennas make synchronized measurements, which facilitates the use of off-the-shelf distance measurement systems; the measurements of additional sensors like IMU, and radar or laser altimeter can be considered easily. An embodiment of the invention relates to a method for platform relative navigation using range measurements, wherein four or more transmitter of positioning signals are located on and/or near a platform of a first object and a second object approaching the platform comprises three or more receivers for receiving the positioning signals, and wherein the method comprises the acts of performing for each received positioning signal a range measurement between the transmitter of the positioning signal and the receiver of the positioning signal, and estimating the relative position and relative attitude of a body frame of the second object with regard to the first object directly by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object.
The estimating of the relative position and relative attitude of a body frame of the second object with regard to the first object may further comprise processing measurements of one or more additional sensors, particularly a radar or laser altimeter.
The state space estimation algorithm can be a Kalman filter, a Sigma-Point filter or another filter allowing to perform state space estimation either in a total state space or an error state space formulation.
The state space estimation algorithm may comprise an error state space formulation and perform the following iterative acts of assuming a relative position and relative attitude of the second object from the range measurements, estimating errors in the assumed relative position and relative attitude of the second object, and correcting the assumed relative position and relative attitude of the second object based on the estimated errors. The state space estimation algorithm can implement the following system differential equation for estimating errors in the assumed relative position and relative attitude of the second object:
Figure imgf000006_0001
wherein denotes errors in the relative position, Ψ5 denotes errors in the relative attitude, and n x form a system noise vector.
An assumed relative attitude of the second object may be propagated in a filter prediction step of the state space estimation algorithm using measurements of additional sensors, particularly an inertial measurement unit.. The state space estimation algorithm can model a range measurement Ay between j-th transmitter and i-th receiver as follows:
P, = k, - r f(r; . -r: ) + nPu
Vs
wherein lT,j denotes the position of the j-th transmitter, n py denotes range measurement noise, and wherein the position of the i-th receiver r A,i is given by
wherein Yob denotes the position of the origin b of the body frame of the second object, 1 denotes a lever arm from the origin *¾ of the body frame of the second object to the i-th receiver, and C denotes a direction cosine matrix that transforms from the body frame of the second object to the body frame of the first object, wherein this direction cosine matrix is related to an assumed direction cosine matrix via the relative attitude errors.
The system model implemented by the state space estimation algorithm may be augmented with relative velocity error states, and the method may further comprise the acts of performing with each received positioning signal a Doppler measurement, and estimating the relative velocity of the body frame of the second object with regard to the first object by processing the Doppler measurements with the augmented state space estimation algorithm. A further embodiment of the invention relates to a computer program, which implements a method according to the invention and as described herein and enabling platform relative navigation when executed by a computer.
According to a further embodiment of the invention, a record carrier storing a computer program according to the invention may be provided, for example a CD-ROM, a DVD, a memory card, a diskette, or a similar data carrier suitable to store the computer program for electronic access.
A further embodiment of the invention relates to a computer being configured by a computer program of the invention and as described herein for platform relative navigation. The computer may be for example located on board of a UAV and process positioning signals received via UAV antennas from transmitters located on or near a platform for controlling an automatic and autonomous landing approach procedure of the UAV.
A further embodiment of the invention relates to a device for platform relative navigation comprising a range measurement unit for performing for a received positioning signal a range measurement between a transmitter of the positioning signal located on and/or near a platform of a first object and a receiver of a second object approaching the platform, with which the positioning signal is received, and processing means for estimating the relative position and relative attitude of a body frame of the second object with regard to the first object by processing range measurements between transmitter of positioning signals and receiver of the positioning signals with a state space estimation algorithm implementing a model of the system of the first and second object, wherein the processing means are configured to perform a method of the invention and as described herein. A yet further embodiment of the invention relates to a vehicle, particularly a UAV, comprising three or more receivers for receiving positioning signals emitted by four or more transmitter located on and/or near a platform of another vehicle, and a device of the invention and as described herein.
A yet further embodiment of the invention relates to a system for platform relative navigation using range measurements comprising four or more transmitter of positioning signals, which are located on and/or near a platform of a first object, three or more receivers for receiving the positioning signals, which are located on board of a second object approaching the platform, and a device of the invention and as described herein.
In the system, a transmitter of a positioning signal may be implemented as a transponder being adapted to reply to an interrogation signal transmitted by a receiver with a reply signal, and a receiver may be adapted to receive as positioning signal the reply signal from the transponder and to measure the time between transmission of the interrogation signal and the reception of the reply signal, wherein the measured time is processed for a range measurement. Alternatively or additionally, in the system, a transmitter of a positioning signal may be implemented as a pseudolite being adapted to emit a GNSS similar signal as positioning signal, wherein several pseudolites located on and/or near the platform of the first object are synchronized, and a receiver may be adapted to receive a positioning signal from a pseudolite and to measure the transmission time of the positioning signal, wherein the measured transmission time is processed for a range measurement.
These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. The invention will be described in more detail hereinafter with reference to exemplary embodiments. However, the invention is not limited to these exemplary embodiments.
BRIEF DESCRIPTION OF DRAWINGS
Fig. 1 shows an example of the system geometry of a UAV with 3 antennas approaching a landing platform on a ship, which comprises 4 transponder emitting positioning signals; and
Fig. 2 shows an embodiment of a device for platform relative navigation according to the invention.
DESCRIPTION OF EMBODIMENTS In the following, functionally similar or identical elements may have the same reference numerals. Embodiments of the present invention are described with regard to a (landing) platform of a ship (first object) and a UAV (second object) approaching the landing platform. However, the invention is not restricted to this application, but can be applied to any kind of relative navigation of a second object with regard to a first object. Communication between the objects is performed by means of RF (Radio Frequency), even if other communication means are also possible such as optical communication technologies.
Fig. 1 shows a system geometry example, with which the present invention can be used. A UAV is denoted by Ob, which is the origin of the UAV's body frame. The UAV further comprises 3 antennas A1-A3 as receivers for positioning signals. The distances between the antennas A1-A3 and the body frame origin 0*, are denoted with l , which are lever arms of the antennas A1-A3 with regards to the origin A landing platform for the UAV on a ship is marked with 4 transmitters T1-T4, which are located at the corners of the platform. The origin of the ship and of a common coordinate system for relative navigation is denoted with Os. The positions of the antennas A1-A3 in the common coordinate system are denoted with the vectors ΓΑ, Ι-ΓΑ,3 and the positions of the transmitters T1-T4 are denoted with the vectors ΓΤ, Ι-ΓΤ,4-
The transmitters T1-T4 can be implemented as transponders, which transmit positioning signals upon receipt of interrogation signals transmitted by the UAV via the antennas A1-A3. The transmitters T1-T4 can also be implemented as pseudolites, which transmit their positioning signals without receiving an interrogation signal.
The positioning signals transmitted by the transmitters T1-T4 can be similar to or even identical with GNSS signals such as positioning signals from the GNSS GPS (Global Positioning System) or the planned European GNSS GALILEO. Particularly, the positioning signals can be code multiplexed signals containing a navigation message with the positions ΓΤ, Ι-ΓΤ,4 of the transmitters T1-T4. Each transmitter may possess its own unique code sequence for coding a transmitted positioning signal so that a receiver of a positioning signal can determine its transmitter.
According to the present invention, the relative position and attitude of the UAV body frame with regard to the ship is estimated directly. This can be done with a Kalman filter, a Sigma-Point filter, or other state space estimation filters (algorithms), either in a total state space or an error state space formulation. The application of a Kalman filter for relative navigation is described in the publication "Stand-Alone Ship-Relative Navigation System Based on Pseudolite Technology"; Aulitzky, C; Heinzinger, O.; Bestmann, U.; Hecker, P.; " AIAA Guidance, Navigation, and Control Conference, 10 -13 August 2009, Chicago, Illinois, USA, in detail.
The applied filter or state space estimation algorithm can be implemented either at least partly in software, for example in a computer program, which can be executed by a processor, or in hardware, for example in an integrated circuit such as a navigation processor. The implementation of the filter receives as inputs range measurements and outputs relative navigation data, which can for example be processed by an automatic positioning system of the UAV for automatically landing the UAV on the platform of the ship.
In the following, an error state space formulation of an implementation of a state space estimation algorithm (filter) according to the invention shall be considered for illustrating the inventive concept. When one or more range measurements performed as described below are available, the filter estimates the errors in the assumed relative position and attitude of the UAV. These estimated errors are then used to correct the assumed relative position and attitude. A suitable system differential equation implemented by the filter is given by
Figure imgf000012_0001
(equation 1 ), where das denotes the three errors in the relative position, ψ' denotes the three errors in the relative attitude, ηω and form the system noise vector. The latter is required to allow for changes in relative position and attitude. If an IMU is available, the assumed relative attitude can be propagated in the filter prediction step using the IMU measurements, for example gyroscope measurements, which prevents that rapid UAV attitude changes contribute to the relative attitude which has to be tracked by the filter. For estimating the relative position and attitude of the UAV, range measurements are processed by the filter. A range measurement is performed for each positioning signal received by the UAV from the positioning signal transmitter. A range measurements results in a pseudorange between the transmitter of a received positioning signal and the receiving antenna of the UAV. A range measurement pv (pseudorange) between transmitter j and receiving antenna i can be modelled as follows (the superscript "s" denotes "ship" as the origin of the common coordinate system which is the ship's origin Os):
Figure imgf000013_0001
(equation 2)
Hereby, the range measurement noise is denoted with np> , and the position of the i-th antenna is given by
Figure imgf000013_0002
(equation 3), where C* denotes the direction cosine matrix that transforms from the UAV body frame to the ship body frame. This direction cosine matrix is related to the assumed direction cosine matrix via the relative attitude errors of the UAV. The above equation allows determining the relative position rob of the UAV body frame directly with regard to the ship.
Also, the above described system and measurement models allow developing a suitable filter implementation. In order to allow for the processing of Doppler measurements, the system model can be augmented with three relative velocity error states leading to a nine-state filter. If range and Doppler measurements are biased by UAV clock and frequency error, the system and measurement models can be augmented accordingly, too. It is understood that if the absolute UAV attitude is known, the relative position and velocity information can be transformed easily to e.g. a local level coordinate system.
Fig. 2 shows a relative navigation device 10, which can for example be installed on board of a UAV and used to generate relative navigation data, which can be processed for controlling an automatic landing of the UAV on the landing platform of a ship.
Device 10 comprises a range measurement unit 12 and processing means 14. It receives as input positioning signals received via antennas ArA3 and measurements from an IMU 16. The range measurements unit 12 performs for each received positioning signal a range measurement p0 in order to determine a pseudorange between the transmitter of the positioning signal and the receiving antenna. The performed range measurements py are supplied by the range measurement unit to the processing means 14 for generating relative navigation data 18. The processing means 14 comprise a Kalman filter as state space estimation algorithm implementing a model of the system of the ship and the UAV. The Kalman filter implements the above equations 1 -3 for processing the range measurements and, furthermore, uses the measurements received from the IMU 16 for assuming a relative attitude of the UAV for propagation in the Kalman filter prediction step. The range measurement unit 12 and/or the processing means 14 can be implemented in soft- or hardware.
The present invention platform enables a relative navigation using range measurements, wherein the number of unknowns to be estimated does not grow with the number of antennas, Doppler measurements can be considered, and the measurements of additional sensors like IMU, and radar or laser altimeter can be considered easily.
REFERENCE NUMERALS AND ACRONYMS
10 platform relative navigation device
12 range measurement unit
14 Kalman filter
16 IMU
18 relative navigation data
A1-A3 antennas
T1-T4 transponder/pseudolites
GNSS Global Navigation Satellite System
GPS Global Positioning System
IMU Inertial Measurement Unit
UAV Unmanned Aerial Vehicle

Claims

Method for platform relative navigation using range measurements, wherein
- four or more transmitter (T1-T4) of positioning signals are located on and/or near a platform of a first object and
- a second object approaching the platform comprises three or more receivers (A 1-A3) for receiving the positioning signals, and wherein the method comprises the acts of
- performing for each received positioning signal a range
measurement between the transmitter of the positioning signal and the receiver of the positioning signal, and
- estimating the relative position and relative attitude of a body frame of the second object with regard to the first object directly by processing the range measurements with a state space estimation algorithm implementing a model of the system of the first and second object.
The method claim 1 , wherein the estimating of the relative position and relative attitude of a body frame of the second object with regard to the first object further comprises processing measurements of one or more additional sensors, particularly a radar or laser altimeter.
The method of claim 1 or 2, wherein the state space estimation algorithm is a Kalman filter, a Sigma-Point filter or another filter allowing to perform state space estimation either in a total state space or an error state space formulation.
The method of claim 3, wherein the state space estimation algorithm comprises an error state space formulation and performs the following iterative acts of assuming a relative position and relative attitude of the second object from the range measurements,
- estimating errors in the assumed relative position and relative
attitude of the second object, and
- correcting the assumed relative position and relative attitude of the second object based on the estimated errors.
The method of claim 4, wherein the state space estimation algorithm implements the following system differential equation for estimating errors in the assumed relative position and relative attitude of the second object:
Figure imgf000018_0001
wherein denotes errors in the relative position, Ψ s denotes errors in the relative attitude, and n x form a system noise vector.
6. The method of any of claim 2, 3, 4 or 5, wherein an assumed relative attitude of the second object is propagated in a filter prediction step of the state space estimation algorithm using measurements of additional sensors, particularly an inertial measurement unit.
7. The method of claim 2, 3, 4, 5 or 6, wherein the state space estimation algorithm models a range measurement Ay between j-th transmitter and i-th receiver as follows:
Figure imgf000019_0001
wherein r,y denotes the position of the j-th transmitter, ρν denotes range measurement noise, and wherein the position of the i-th receiver r As,i is given by
Figure imgf000019_0002
wherein rob denotes the position of the origin b of the body frame of the second object, I,· denotes a lever arm from the origin Ob of the body frame of the second object to the i-th receiver, and denotes a direction cosine matrix that transforms from the body frame of the second object to the body frame of the first object, wherein this direction cosine matrix is related to an assumed direction cosine matrix via the relative attitude errors.
8. The method of any of the preceding claims, wherein the system model implemented by the state space estimation algorithm is augmented with relative velocity error states, and the method further comprises the acts of performing with each received positioning signal a Doppler measurement, and estimating the relative velocity of the body frame of the second object with regard to the first object by processing the Doppler measurements with the augmented state space estimation algorithm.
9. A computer program implementing a method of any of the claims 1 to 8.
10. A record carrier storing a computer program according to claim 9.
11. A computer being configured by a computer program of claim 9 for platform relative navigation.
12. A device (10) for platform relative navigation comprising
- a range measurement unit (12) for performing for a received
positioning signal a range measurement between a transmitter (T T4) of the positioning signal located on and/or near a platform of a first object and a receiver (A1-A3) of a second object approaching the platform, with which the positioning signal is received, and
- processing means (14) for estimating the relative position and
relative attitude of a body frame of the second object with regard to the first object by processing range measurements between transmitter (TrT4)of positioning signals and receiver (A1-A3) of the positioning signals with a state space estimation algorithm
implementing a model of the system of the first and second object, wherein the processing means are configured to perform a method of any of the claims 1 to 7.
13. A vehicle, particularly a UAV, comprising
- three or more receivers (A 1-A3) for receiving positioning signals
emitted by four or more transmitter (T T4) located on and/or near a platform of another vehicle, and a device (10) of claim 12.
14. A system for platform relative navigation using range measurements comprising
- four or more transmitter (T1-T4) of positioning signals, which are located on and/or near a platform of a first object,
- three or more receivers (A 1-A3) for receiving the positioning signals, which are located on board of a second object approaching the platform, and
- a device (10) of claim 12.
15. The system of claim 14, wherein
- a transmitter (T-1-T4) of a positioning signal is implemented as a transponder being adapted to reply to an interrogation signal transmitted by a receiver with a reply signal, and
- a receiver (A 1-A3) is adapted to receive as positioning signal the reply signal from the transponder and to measure the time between transmission of the interrogation signal and the reception of the reply signal, wherein the measured time is processed for a range measurement.
16. The system of claim 14 or 15, wherein
- a transmitter (T T4) of a positioning signal is implemented as a pseudolite being adapted to emit a GNSS similar signal as positioning signal, wherein several pseudolites located on and/or near the platform of the first object are synchronized, and - a receiver (A 1-A3) is adapted to receive a positioning signal from a pseudolite and to measure the transmission time of the positioning signal, wherein the measured transmission time is processed for a range measurement.
PCT/EP2012/002953 2011-07-15 2012-07-13 Platform relative navigation using range measurements Ceased WO2013010656A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201280033923.6A CN103827688B (en) 2011-07-15 2012-07-13 Use the platform Relative Navigation of range measurement
AU2012286233A AU2012286233B2 (en) 2011-07-15 2012-07-13 Platform relative navigation using range measurements
RU2014105501A RU2606240C2 (en) 2011-07-15 2012-07-13 Platform relative navigation using range measurements
US14/131,444 US9645243B2 (en) 2011-07-15 2012-07-13 Platform relative navigation using range measurements

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP11005801.3 2011-07-15
EP11005801.3A EP2546674B1 (en) 2011-07-15 2011-07-15 Plarform relative navigation using range measurements

Publications (2)

Publication Number Publication Date
WO2013010656A2 true WO2013010656A2 (en) 2013-01-24
WO2013010656A3 WO2013010656A3 (en) 2013-04-04

Family

ID=47088778

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/002953 Ceased WO2013010656A2 (en) 2011-07-15 2012-07-13 Platform relative navigation using range measurements

Country Status (7)

Country Link
US (1) US9645243B2 (en)
EP (1) EP2546674B1 (en)
CN (1) CN103827688B (en)
AU (1) AU2012286233B2 (en)
ES (1) ES2532529T3 (en)
RU (1) RU2606240C2 (en)
WO (1) WO2013010656A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110888142A (en) * 2019-11-15 2020-03-17 山西大学 Spacecraft hidden target point measuring method based on MEMS laser radar measuring technology

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104122545B (en) * 2014-07-21 2017-04-19 湖南恒茂高科股份有限公司 Wireless distance measuring method and device
CN104251994B (en) * 2014-09-11 2017-12-15 上海卫星工程研究所 Long baselines laser ranging is realized without control point satellite Precise Position System and method
CN104407326B (en) * 2014-10-31 2017-01-11 中国运载火箭技术研究院 A Radio Frequency Autonomous Relative Attitude Measurement System Applicable to Cluster Targets
GB201505697D0 (en) * 2015-04-02 2015-05-20 Rolls Royce Plc A system and method
US10395759B2 (en) 2015-05-18 2019-08-27 Regeneron Pharmaceuticals, Inc. Methods and systems for copy number variant detection
CN105277918B (en) * 2015-11-17 2017-11-28 北京航空航天大学 Radio frequency relative attitude sensor testing device and testing method thereof
US12071669B2 (en) 2016-02-12 2024-08-27 Regeneron Pharmaceuticals, Inc. Methods and systems for detection of abnormal karyotypes
CN105700356B (en) * 2016-02-25 2018-10-02 哈尔滨工程大学 UUV based on Robust Constrained Model Predictive Control is to line traffic control position recovery method
US10983191B2 (en) * 2016-11-29 2021-04-20 Marine Technologies LLC Position reference system for vessels
US10620296B1 (en) 2017-01-03 2020-04-14 Toyon Research Corporation System for positioning, navigation, and time (PNT)
US10345823B2 (en) 2017-01-31 2019-07-09 Qualcomm Incorporated Method and apparatus for determining vehicle location in vehicle-to-vehicle communications
US10408943B2 (en) * 2017-02-09 2019-09-10 Samsung Electronics Co., Ltd. Method and apparatus for improving position-velocity solution in GNSS receivers
US10627475B2 (en) * 2017-05-05 2020-04-21 The Boeing Company Pose estimation using radio frequency identification (RFID) tags
US11187777B2 (en) 2017-06-20 2021-11-30 Sony Group Corporation Systems, methods, and devices for verification of position estimation using an orientation sensor
DE102017117495A1 (en) * 2017-08-02 2019-02-07 Airbus Defence and Space GmbH System and method for determining the position of a transmitting unit and watercraft with a system for determining the position of a transmitting unit
DE102017117498A1 (en) 2017-08-02 2019-02-07 Airbus Defence and Space GmbH System and method for calibrating a transmitting unit and watercraft with a system for calibrating a transmitting unit
CN107741229B (en) * 2017-10-10 2020-09-25 北京航空航天大学 An optoelectronic/radar/inertial combined carrier-based aircraft landing guidance method
CN108828537B (en) * 2018-04-04 2022-11-18 南京理工大学 Laser altimeter comprehensive test system and method
CN108917764B (en) * 2018-05-18 2020-11-27 南京航空航天大学 A Ranging-Only Relative Navigation Method for Double-Star Formation
CN108957509B (en) * 2018-05-18 2022-03-15 南京航空航天大学 An Analytical Method for Relative Navigation Based on Periodic Relative Motion of Double-Star Formation Only with Ranging
EP3572829B1 (en) * 2018-05-25 2024-01-17 Airbus Defence and Space GmbH Synchronized radar networks
CN109407687A (en) * 2018-12-03 2019-03-01 北京航空航天大学合肥创新研究院 High-precision autonomous landing control system for UAV
RU2743048C1 (en) * 2019-09-09 2021-02-15 Борис Викторович Рыжков Method for determining the relative position of navigation objects and a system for using this method
CN112880661B (en) * 2021-01-11 2022-11-11 北京中科宇航技术有限公司 Position and attitude measurement method and device for vertical landing aircraft
DE102021203641A1 (en) * 2021-04-13 2022-10-13 Top Seven Gmbh & Co. Kg Method, vehicle, system and computer program for determining and/or improving a position estimate of a vehicle
CN113776514A (en) * 2021-08-10 2021-12-10 深之蓝海洋科技股份有限公司 Relative navigation method and device for detecting vertical surface under liquid by robot

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US583513A (en) * 1897-06-01 Qoooooooo
US3706096A (en) * 1961-02-02 1972-12-12 Hammack Calvin M Polystation doppler system tracking of vehicles,measuring displacement and rate thereof and similar applications
US5583513A (en) * 1993-03-24 1996-12-10 Board Of Trustees Of The Leland Stanford Junior University System and method for generating precise code based and carrier phase position determinations
US5757316A (en) * 1997-02-01 1998-05-26 Litton Systems, Inc. Attitude determination utilizing an inertial measurement unit and a plurality of satellite transmitters
GB9912724D0 (en) 1999-06-01 1999-08-04 Cambridge Positioning Sys Ltd Radio positioning system
FR2836554A1 (en) * 2002-02-22 2003-08-29 Salaberry Bernard Lucien Ch De Pilotless helicopter remotely controlled landing system having three fixed mechanisms on bridge of boat RF linked to three matching mechanisms
WO2003104840A1 (en) * 2002-06-11 2003-12-18 Worcester Polytechnic Institute Adaptive spatial temporal selective attenuator with restored phase
US7298314B2 (en) * 2002-08-19 2007-11-20 Q-Track Corporation Near field electromagnetic positioning system and method
RU2225039C1 (en) * 2002-12-09 2004-02-27 Лаврушко Валерий Николаевич Method of training pilot in landing aircraft under adverse-weather conditions
RU2241959C1 (en) * 2003-05-20 2004-12-10 Федеральное государственное унитарное предприятие "Научно-производственный центр автоматики и приборостроения имени академика Н.А.Пилюгина" Method and device for evaluating navigation parameters of controlled mobile objects
US20050040985A1 (en) * 2003-08-19 2005-02-24 Trammell Hudson System and method for providing improved accuracy relative positioning from a lower end GPS receiver
BRPI0303968B1 (en) 2003-10-08 2017-01-24 Fundação Inst Nac De Telecomunicações Finatel geographic and spatial positioning system and process
CN100342243C (en) 2005-10-21 2007-10-10 赫立讯科技(北京)有限公司 Relative distance measuring and pestioning method of short distance radio network based on link quality indication
ATE471524T1 (en) 2006-05-30 2010-07-15 Nokia Corp SUPPORTING RELATIVE POSITIONING
RU2339002C1 (en) * 2007-05-14 2008-11-20 Федеральное государственное унитарное предприятие "Научно-производственный центр автоматики и приборостроения имени академика Н.А. Пилюгина" (ФГУП "НПЦ АП") Method of evaluation of navigation parameters of operated mobile objects and related device for implementation thereof
US8010287B1 (en) * 2007-08-14 2011-08-30 Rockwell Collins, Inc. Frequency hopping data link approach to autonomous GPS denied relative navigation determination
CN101315423A (en) 2008-03-13 2008-12-03 孟详粤 Method for computing code phase pseudo range between locating terminal and satellite in auxiliary global satellite positioning system
US20100152933A1 (en) * 2008-12-11 2010-06-17 Honeywell International Inc. Apparatus and method for unmanned aerial vehicle ground proximity detection, landing and descent

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
AULITZKY, C.; HEINZINGER, 0.; BESTMANN, U.; HECKER, P.: "Stand-Alone Ship-Relative Navigation System Based on Pseudolite Technology", AIAA GUIDANCE, NAVIGATION, AND CONTROL CONFERENCE, 10 August 2009 (2009-08-10)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110888142A (en) * 2019-11-15 2020-03-17 山西大学 Spacecraft hidden target point measuring method based on MEMS laser radar measuring technology
CN110888142B (en) * 2019-11-15 2023-05-30 山西大学 Spacecraft hidden target point measurement method based on MEMS laser radar measurement technology

Also Published As

Publication number Publication date
RU2606240C2 (en) 2017-01-10
ES2532529T3 (en) 2015-03-27
AU2012286233B2 (en) 2016-05-26
WO2013010656A3 (en) 2013-04-04
CN103827688B (en) 2016-08-17
EP2546674B1 (en) 2014-12-31
CN103827688A (en) 2014-05-28
RU2014105501A (en) 2015-08-27
EP2546674A1 (en) 2013-01-16
US9645243B2 (en) 2017-05-09
AU2012286233A1 (en) 2014-01-23
US20140247184A1 (en) 2014-09-04

Similar Documents

Publication Publication Date Title
EP2546674B1 (en) Plarform relative navigation using range measurements
US8497798B2 (en) Device and method for three-dimensional positioning
Webster et al. Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles
US7978133B1 (en) GPS gyro calibration
US7702460B2 (en) Estimate of relative position between navigation units
US20100106416A1 (en) Aircraft navigation using the global positioning system, inertial reference system, and distance measurements
US8170796B2 (en) Ins based GPS carrier phase cycle slip detection and repairing
US9182237B2 (en) Navigation system with rapid GNSS and inertial initialization
EP3056926B1 (en) Navigation system with rapid gnss and inertial initialization
WO2011127450A2 (en) Geolocation leveraging spot beam overlap
EP1906201A1 (en) Carrier phase interger ambiguity resolution with multiple reference receivers
JP2008298443A (en) Multipath detection device, positioning device, posture orientation determination device, multipath detection method, and multipath detection program
US11237277B2 (en) Techniques for determining geolocations
US12103572B2 (en) Systems and methods for estimating vehicle locations
JP5605539B2 (en) MOBILE POSITION ESTIMATION TRACKING DEVICE, MOBILE POSITION ESTIMATION TRACKING METHOD, AND MOBILE POSITION ESTIMATION TRACKING PROGRAM
Jiang et al. Improved decentralized multi-sensor navigation system for airborne applications
US9395447B2 (en) Orientation measurements for drift correction
CN117249824A (en) An inertial satellite fusion positioning method and system
US8963764B1 (en) Ship heading and pitch using satellite ephemerides and radar range measurement of satellite
JP2008241079A (en) Navigation system
JP2020085650A (en) Positioning device, speed measuring device, and program
JP7789266B2 (en) Position/attitude orientation device, position/attitude orientation method, and position/attitude orientation program
KR20180060673A (en) Real-time computation technique to estimate relative displacement using GNSS carrier-phase data
CN110531395B (en) Method, device and device for positioning of unmanned vehicles
Johnson et al. Integrating electro-optical grid reference system (EOGRS) and other sensors of opportunity into GPS-based precision applications

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12778945

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2012286233

Country of ref document: AU

Date of ref document: 20120713

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2014105501

Country of ref document: RU

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 14131444

Country of ref document: US

122 Ep: pct application non-entry in european phase

Ref document number: 12778945

Country of ref document: EP

Kind code of ref document: A2