Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Aeronautical vehicle
Reexamination Certificate
2006-07-11
2006-07-11
Black, Thomas G. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Aeronautical vehicle
C701S200000, C701S213000, C701S214000, C701S215000, C701S216000, C342S357490, C342S357490, C342S061000, C342S062000, C342S063000, C342S073000, C342S074000, C244S003200, C244S003150, C244S003160, C244S003190, C244S003210, C702S001000
Reexamination Certificate
active
07076342
ABSTRACT:
An attitude sensing apparatus for determining the attitude of a mobile unit is provided that can reliably estimate an alignment angle between a GPS antenna coordinate system and an IMU coordinate system with good accuracy regardless of the magnitude of the alignment angle. Based on observation of the difference between a GPS angular velocity and an IMU angular velocity, an alignment angle estimating section estimates an alignment angle and sensor errors. An alignment angle adder and a sensor error adder cumulatively add and update the estimated alignment angle and sensor errors, respectively. The estimated alignment angle is fed back to an inertia data converter while the estimated sensor errors are fed back to an inertia data correcting section. The apparatus repeatedly performs estimation until the estimated alignment angle gradually approaches a true alignment angle by successively feeding back estimated values to a flow of alignment angle estimation process.
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Fukuda Masaru
Toda Hiroyuki
Birch & Stewart Kolasch & Birch, LLP
Black Thomas G.
Furuno Electric Company, ltd.
Marc McDieunel
LandOfFree
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