Sensor fusion system and method for estimating position,...

Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Aeronautical vehicle

Reexamination Certificate

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C701S023000, C701S220000, C342S357200

Reexamination Certificate

active

07970500

ABSTRACT:
This invention relates to a system for estimating the position, velocity and orientation of a vehicle, by determining the components of two noncollinear constant unit vectorsb,baccording to vehicle body axes; and determining the components of the noncollinear constant unit vectors {right arrow over (g)}t,{right arrow over (e)}taccording to Earth's axes. The system further determines the three components of angular velocitybof the vehicle in body axes; corrects the angular velocitybwith a correction uωand obtains a corrected angular velocity {circumflex over (ω)}b=b+uω; a control module implementing a control law to calculate the correction uω, where the control law is:in-line-formulae description="In-line Formulae" end="lead"?uω=σ(b×ĝb+b×êb)  [1]in-line-formulae description="In-line Formulae" end="tail"?where σ is a positive scalar,such that upon using the corrected angular velocity {circumflex over (ω)}b=b+uωas input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (φ)} is bounded.

REFERENCES:
patent: 5321631 (1994-06-01), Germanetti
patent: 5774832 (1998-06-01), Vanderwerf
patent: 6496779 (2002-12-01), Hwang
patent: 2002/0116125 (2002-08-01), Lin
International Search Report dated Jun. 10, 2005 from PCT/ES2005/000088.

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