Data processing: vehicles – navigation – and relative location – Navigation – Employing position determining equipment
Reexamination Certificate
2008-03-18
2008-03-18
Trammell, James P. (Department: 3694)
Data processing: vehicles, navigation, and relative location
Navigation
Employing position determining equipment
C342S357490, C342S357490
Reexamination Certificate
active
10932497
ABSTRACT:
An inertial (“INS”)/GPS receiver uses injected alignment data to determine the alignment of the INS sub-system when the receiver is in motion during start-up. The alignment data is determined from parameterized surface information, measured GPS velocity, and a known or predetermined angular relationship between the vehicle on which the receiver is mounted and an inertial measurement reference, or body, frame associated with the accelerometers and gyroscopes of the inertial measuring unit (“IMU”). The parameterized surface information, which provides a constraint, may be the orientation of the surface over which the vehicle that houses the receiver is moving. The receiver uses the initial GPS position to determine the location of the vehicle on the parameterized surface, and thus, the known surface orientation. The receiver then determines the roll, pitch and heading of the vehicle on the surface using the associated GPS velocity vector. Thereafter, the receiver uses the calculated roll, pitch and heading of the vehicle and the known or predetermined angular relationship between the vehicle and the IMU body frame to determine a rotation matrix that relates the IMU body frame to a computation or referenced frame used by the receiver.
REFERENCES:
patent: 5672872 (1997-09-01), Wu et al.
patent: 5789671 (1998-08-01), Fernandez
patent: 5928309 (1999-07-01), Korver et al.
patent: 5941935 (1999-08-01), Fernandez
patent: 6094163 (2000-07-01), Chang
patent: 6191732 (2001-02-01), Carlson et al.
patent: 6657584 (2003-12-01), Cavallaro et al.
patent: 6721657 (2004-04-01), Ford et al.
patent: 6728637 (2004-04-01), Ford et al.
patent: 6744403 (2004-06-01), Milnes et al.
patent: 7009558 (2006-03-01), Fall et al.
patent: 7046193 (2006-05-01), Schipper et al.
patent: 2002/0107636 (2002-08-01), Ford et al.
patent: 2002/0165669 (2002-11-01), Pinto et al.
patent: WO 01/94971 (2001-12-01), None
patent: WO 02099453 (2002-12-01), None
patent: WO 2005024457 (2005-03-01), None
Kim et al. “A complete GPS/INS Integration Technique Using GPS Carrier Phase Measurements”, IEEE PLANS 1998, Apr. 20-23, 1998, pp. 526-533.
Kaplan et al: “Understanding GPS—Principles and Applications” Principles and Applications, Artech House Mobile Communications Series, Boston, MA: Artech House, US, 1996, pp. 395-408, XP002147231.
T. Ford, K. Milnes, article entitled “Track Model constraint Enhancement for NovAtel's OEM4”, Proceedings of the International Symposium on Kinematic Systems in Geodesy, Geomatics and Navigation (KIS), Banff, Alberta, Jun. 2001.
T. Ford, K. Milnes, article entitled “GPS Positioning in the Fast Track: Track Model Constraint Enhancement for OEM4”, Proceedings of ION GPS ′01, Salt Lake City, Utah, Sep. 17-20, 2001, The Institute of Navigation, Washington, D.C., pp. 452.
T. Ford, J. Hamilton, article entitled “NovAtel Inc. New Positioning Filter: Phase Smoothing in the Position Domain”, Proceedings of ION GPS ′02, Portland, Oregon, Sep. 2002, The Institute of Navigation, Washington, D.C.
T. Ford, J. Hamilton, article entitled “A New Positioning Filter: Phase Smoothing in the Position Domain”, NAVIGATION, Journal of the Institute of Navigation, vol. 50, No. 3, Summer 2003, pp. 65-78.
K. Milnes, T. Ford, article entitled “Real-Time GPS FX—On Screen Positioning of Racecars”, GPS World, Sep. 2001.
T. Ford, J. Neumann, M. Bobye, article entitled “OEM4 Inertial: An Inertial/GPS Navigation System on the OEM4 Receiver”, Proceedings of the Interntional Symposium on Kinematic Systems in Geodesy, Geomatics and Navigation (KIS, Banff, Alberta, Sep. 2001.
T. Ford, J. Neumann, M. Bobye, P. Fenton, article entitled “OEM4 Inertial: A Tightly Integrated Decentralised Inertial/GPS Navigation System”, Proceedings of ION GPS ′01, Salt Lake City, UT Sep. 17-20, 2001, The Institute of Navigation, Washington, D.C.
Bobye Michael
Ford Thomas John
Hamilton Jason
Cesari and McKenna LLP
Greene, Jr. Daniel L
NovAtel Inc.
Trammell James P.
LandOfFree
Inertial GPS navigation system using injected alignment data... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Inertial GPS navigation system using injected alignment data..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Inertial GPS navigation system using injected alignment data... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-3921918