Method for rapid recovery from dead reckoning system heading los

Details Method for rapid recovery from dead reckoning system heading los Method for rapid recovery from dead reckoning system heading los

1995-12-26

1998-04-28

Louis-Jacques, Jacques H.

Data processing: vehicles, navigation, and relative location

Navigation

Employing position determining equipment

701213, 701217, 701215, 701224, 36457103, 36457105, 342357, 342457, 340995, 340988, 73178R, G06G 778

Patent

active

057458685

ABSTRACT:
A method of recovering the heading of a terrestrial vehicle navigation system having a GPS receiver integrated with a dead reckoning system. After determining that a current estimate of the heading may be in error (12, 14), Doppler measurement double difference observables are computed for all GPS satellites whose L band carriers are in phase or frequency track, available distance traveled and heading change information is extracted, and the results are combined and processed (20) to produce a new current heading estimate. A recursive estimator is used to guarantee convergence to an accurate result. Conventional GPS/dead reckoning combined systems generally reset to the first available GPS position following a heading loss. Gross positioning errors can accumulate up to this point, however. The methods described can recover the dead reckoning system heading by processing Doppler information from a single GPS satellite, and thus reduce position error growth occurring when the heading is unknown.

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patent: 5440484 (1995-08-01), Kao
patent: 5469158 (1995-11-01), Morita
patent: 5525998 (1996-06-01), Geier

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