CA2511000A1 - Inertial gps navigation system with modified kalman filter - Google Patents

Inertial gps navigation system with modified kalman filter Download PDF

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Publication number
CA2511000A1
CA2511000A1 CA002511000A CA2511000A CA2511000A1 CA 2511000 A1 CA2511000 A1 CA 2511000A1 CA 002511000 A CA002511000 A CA 002511000A CA 2511000 A CA2511000 A CA 2511000A CA 2511000 A1 CA2511000 A1 CA 2511000A1
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Canada
Prior art keywords
inertial
gps
measurements
current
information
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CA002511000A
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French (fr)
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CA2511000C (en
Inventor
Thomas John Ford
Jason Hamilton
Michael Bobye
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Novatel Inc
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Priority claimed from PCT/CA2004/000072 external-priority patent/WO2005071431A1/en
Publication of CA2511000A1 publication Critical patent/CA2511000A1/en
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Publication of CA2511000C publication Critical patent/CA2511000C/en
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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/48Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

An inertial ("INS")/GPS receiver includes an INS sub-system which incorporates, into a modified Kalman filter, GPS observables and/or other observables that span previous and current times. The INS filter utilizes the observables to update position information relating to both the current and the previous times, and to propagate the current position, velocity and attitude related information. The GPS
observable may be delta phase measurements, and the other observables may be, for example, wheel pick-offs (or counts of wheel revolutions) that are used to calculate along track differences, and so forth. The inclusion of the measurements in the filter together with the current and the previous position related information essentially eliminates the effect of system dynamics from the system model. A position difference can thus be formed that is directly observable by the phase difference or along track difference measured between the previous and current time epochs.

Claims (14)

CLAIMS:
1. An inertial/global positioning system (GPS) receiver including:
A. a GPS sub-system for providing correlation measurements and GPS
observables associated with signals received from a plurality of GPS
satellites;
B. an inertial sub-system for providing inertial measurements from a plurality of accelerometers and gyroscopes;
C. a clock that maintains GPS time;
D. a processor for time-tagging the inertial measurements with the GPS time and calculating GPS position based on the correlation measurements and inertial position, velocity and attitude that are determined relative to the GPS position and are based on the inertial measurements and the GPS
observables, the processor using - GPS position, associated covariance information and GPS
observables to control the adverse effects in the inertial calculations of inaccuracies in the inertial sub-system measurements, - inertial position, velocity and associated covariance information to assist in signal re-acquisition operations of the GPS sub-system; and - inertial position and associated covariance information to assist in carrier cycle ambiguity resolution operations that are part of the signal re-acquisition operations.
2. The inertial/global positioning system receiver of claim 1 wherein the processor further calculates GPS position relative to a base receiver with a known position.
3. The inertial/global positioning system receiver of claim 2 wherein the processor - processes the GPS correlation measurements using one or more GPS
filters, and - processes the inertial measurements and GPS observables using an inertial Kalman filter that updates previous and current position related information and propagates current position, velocity and attitude related information.
4. The inertial/global positioning system receiver of claim 3 wherein the GPS
observable is delta phase measurements.
5. The inertial/global positioning system receiver of claims 4 wherein the processor further - determines when the receiver is stationary after initial movement, and - when the receiver is stationary saves system components and performs a zero velocity update of the inertial Kalman filter using predetermined velocity values instead of velocity observational values.
6. The inertial/global positioning system receiver of claim 4 wherein the inertial subsystem includes a distance measuring unit that provides distance measuring observables, and the processor further uses the distance measuring observables in the inertial Kalman filter to update the previous and current position related information.
7. An INS/GPS receiver including:
A. an antenna for receiving signals from a plurality of GPS satellites;
B. a GPS sub-system for acquiring and tracking the signals from the respective GPS
satellites in view;
determining GPS position and related covariance information, and producing associated delta phase measurements that are double differenced across both time and the GPS satellites, C. an inertial measurement unit for making measurements associated with the acceleration and relative orientation of the receiver;
D. an INS Kalman filter that uses the inertial measurements and the delta phase measurements to update current and previous position related information and propagate current position, velocity and attitude related information; and E, a mechanization task that determines inertial position, velocity and attitude based on the inertial measurements and the updated information produced by the INS Kalman filter.
8. The receiver of claim 7 further including a distance measurement unit that provides a measurement that is associated with the distance traveled over a measurement interval; and the INS Kalman filter further calculates an along track difference based on the measurement made by the distance measurement unit and a trajectory that is based on the inertial measurements over the same interval, the INS Kalman filter using the along track difference to update previous and current position related information and propagate current position, velocity and attitude.
9. A method of determining GPS position including:
A. receiving signals from a plurality of GPS satellites;

B. acquiring and tracking carriers and codes in the satellite signals and determining delta phase measurements;
C. determining GPS pseudoranges, Doppler offsets, and GPS position and covariance related information;
D. taking inertial measurements relating to acceleration and orientation;
E. updating inertial current and previous position related information using the inertial measurements, the GPS position and covariance related information, and the delta phase measurements;
F. propagating the updated current position information and velocity information; and G. using the propagated position and velocity information to determine the current GPS position.
. The method of claim 9 further including taking other observable measurements that correspond to distance traveled over a measurement interval; and in the step of updating the inertial current and previous position related information, further using the other observable measurements in the updating of the current and previous inertial position related information.
11. A method of determining inertial position using an INS Kalman filter, the method including the steps of A. receiving from a GPS sub-system GPS position covariance information and GPS observables that over time measure position change;
B. making acceleration and attitude related inertial measurements;
C. using the observable and inertial measurements to update position information relating to a current position and a previous position and using the inertial measurements and the updated information to propagate current position, velocity and attitude related information;
D. using the propagated current position related information to determine an inertial position.
12. The method of claim 11 wherein, the GPS observable is carrier phase that is double differenced over both time and GPS satellites.
13. The method of claim 11 further including making measurements and determining other observables that over time measure position change; and including the other observables in the updating of previous and current position information.
14. The method of claim 13 wherein the other observable is wheel revolutions.
CA2511000A 2003-01-21 2004-01-23 Inertial gps navigation system with modified kalman filter Expired - Lifetime CA2511000C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US44161203P 2003-01-21 2003-01-21
US60/441,612 2003-01-21
PCT/CA2004/000072 WO2005071431A1 (en) 2004-01-23 2004-01-23 Inertial gps navigation system with modified kalman filter

Publications (2)

Publication Number Publication Date
CA2511000A1 true CA2511000A1 (en) 2004-07-21
CA2511000C CA2511000C (en) 2012-03-27

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US (1) US7193559B2 (en)
AU (1) AU2004203383B2 (en)
CA (1) CA2511000C (en)

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