Communications: directive radio wave systems and devices (e.g. – Directive – Including a satellite
Patent
1997-03-17
1998-05-26
Blum, Theodore M.
Communications: directive radio wave systems and devices (e.g.,
Directive
Including a satellite
342455, 701214, H04B 7185, G01S 502
Patent
active
057573174
ABSTRACT:
The invention is a method for determining the relative position and velocity of a second vehicle with respect to a first vehicle. The method is practiced on board the second vehicle and utilizes a plurality of satellite transmitters and an inertial measurement unit on the second vehicle. The first vehicle has available a plurality of data items consisting of the first vehicle's measured position, measured velocity, and specific-force acceleration. The second vehicle has available data items consisting of the second vehicle's measured position, measured velocity, specific-force acceleration, autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction. The measured position and measured velocity are determined utilizing the radio signals from a plurality of satellite transmitters and the specific-force acceleration is obtained from an inertial measurement unit. The autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction are outputs of an autonomous Kalman filter process, the inputs being derived from the second vehicle's measured position, measured velocity, and specific-force acceleration. The method comprises the steps of (a) obtaining a plurality of the first vehicle's data items from the first vehicle and (b) determining the estimated relative position and the estimated relative velocity of the second vehicle with respect to the first vehicle utilizing the plurality of data items obtained from the first vehicle and one or more of the second vehicle's data items including either the specific-force acceleration or the group of data items consisting of autonomous position, autonomous velocity, autonomous position correction, and autonomous velocity correction.
REFERENCES:
patent: 5587904 (1996-12-01), Ben-Yair et al.
patent: 5596332 (1997-01-01), Coles et al.
Buchler Robert J.
Chueh Kai-Nan
Blum Theodore M.
Litton Systems Inc.
Malm Robert E.
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