Data processing: vehicles – navigation – and relative location – Navigation – Employing position determining equipment
Patent
1995-11-22
1998-07-28
Zanelli, Michael
Data processing: vehicles, navigation, and relative location
Navigation
Employing position determining equipment
701220, G01C 2110, G01C 2116, G01C 2300
Patent
active
057873844
ABSTRACT:
An apparatus and method for determining the velocity of a platform includes a GPS receiver and inertial measurement unit (IMU) located at the platform. The GPS receiver provides GPS navigation data using a plurality of GPS satellites while the inertial measurement unit provides inertial navigation data. Acceleration computed from the GPS navigation data is combined with the inertial acceleration generated from the IMU using a Kalman filter to generate a substantially IMU-bias free acceleration of the platform. The resultant acceleration measurement and the GPS navigation data are used to calculate the velocity of the platform in conjunction with a second Kalman filter for removing GPS systematic errors that are normally removed by use of a ground reference station.
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E-Systems Inc.
Zanelli Michael
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