WO1998049577A3 - Methods for gyro bias estimation using gps - Google Patents

Methods for gyro bias estimation using gps Download PDF

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Publication number
WO1998049577A3
WO1998049577A3 PCT/US1998/006568 US9806568W WO9849577A3 WO 1998049577 A3 WO1998049577 A3 WO 1998049577A3 US 9806568 W US9806568 W US 9806568W WO 9849577 A3 WO9849577 A3 WO 9849577A3
Authority
WO
WIPO (PCT)
Prior art keywords
gps
gyro
makes use
methods
another
Prior art date
Application number
PCT/US1998/006568
Other languages
French (fr)
Other versions
WO1998049577A2 (en
Inventor
George Jeffrey Geier
Original Assignee
Motorola Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Motorola Inc filed Critical Motorola Inc
Priority to EP98939051A priority Critical patent/EP0934506A4/en
Publication of WO1998049577A2 publication Critical patent/WO1998049577A2/en
Publication of WO1998049577A3 publication Critical patent/WO1998049577A3/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396Determining accuracy or reliability of position or pseudorange measurements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53Determining attitude

Abstract

Augmenting the GPS receiver (30) with some form of Dead Recknoning (DR), such as a gyros (35), fills in the gaps occurring as a result of loss of GPS coverage. The present invention permits reliable and automatic estimation and calibration of the gyro zero rate bias. In particular, three specific methods (FIGs. 2-4) are disclosed whereby one method (FIG. 2) makes use of a 'GPS gyro' for detecting vehicle heading change, another (FIG. 3) makes use of a 'GPS accelerometer' for detecting stationary periods, and another (FIG. 4) makes use of a Kalman filter model for open loop heading error and is used to extract the contribution of and so estimate the gyro bias.
PCT/US1998/006568 1997-04-07 1998-04-02 Methods for gyro bias estimation using gps WO1998049577A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP98939051A EP0934506A4 (en) 1997-04-07 1998-04-02 Methods for gyro bias estimation using gps

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US83496697A 1997-04-07 1997-04-07
US08/834,966 1997-04-07

Publications (2)

Publication Number Publication Date
WO1998049577A2 WO1998049577A2 (en) 1998-11-05
WO1998049577A3 true WO1998049577A3 (en) 1999-03-04

Family

ID=25268241

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1998/006568 WO1998049577A2 (en) 1997-04-07 1998-04-02 Methods for gyro bias estimation using gps

Country Status (2)

Country Link
EP (1) EP0934506A4 (en)
WO (1) WO1998049577A2 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001027545A (en) * 1999-05-07 2001-01-30 Seiko Instruments Inc Portable range finder, portable distance/speed meter, and distance/speed measuring method
WO2001020260A1 (en) * 1999-09-15 2001-03-22 Sirf Technology, Inc. Navigation system and method for tracking the position of an object
US6380890B1 (en) * 2000-08-11 2002-04-30 Motorola, Inc. Information appliance system having a navigational position generator and method
US7103477B1 (en) 2005-08-08 2006-09-05 Northrop Grumman Corporation Self-calibration for an inertial instrument based on real time bias estimator
US8239133B2 (en) * 2008-07-02 2012-08-07 O2Micro, International Global positioning system and dead reckoning (GPSandDR) integrated navigation system
US9008996B2 (en) 2008-07-02 2015-04-14 National Institute Of Advanced Industrial Science And Technology Moving body positioning device
US20120173195A1 (en) * 2010-12-03 2012-07-05 Qualcomm Incorporated Inertial sensor aided heading and positioning for gnss vehicle navigation
CN106500693B (en) * 2016-12-07 2019-06-28 中国电子科技集团公司第五十四研究所 A kind of AHRS algorithm based on adaptive extended kalman filtering
EP3667236B1 (en) 2018-12-13 2023-09-06 Ordnance Survey Limited A method of determining position data
CN110045399B (en) * 2019-04-30 2020-11-27 中国人民解放军国防科技大学 Zero crossing point deviation suppression method based on selective non-equivalent sampling
CN110780319A (en) * 2019-09-16 2020-02-11 蓝箭航天空间科技股份有限公司 Carrier rocket combined navigation function verification system and verification method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4903212A (en) * 1987-03-13 1990-02-20 Mitsubishi Denki Kabushiki Kaisha GPS/self-contained combination type navigation system
US5345382A (en) * 1992-05-15 1994-09-06 Zexel Corporation Calibration method for a relative heading sensor
US5367463A (en) * 1991-07-15 1994-11-22 Matsushita Electric Industrial Co., Ltd. Vehicle position and azimuth computing system
US5416712A (en) * 1993-05-28 1995-05-16 Trimble Navigation Limited Position and velocity estimation system for adaptive weighting of GPS and dead-reckoning information
US5512904A (en) * 1994-06-13 1996-04-30 Andrew Corporation Method and apparatus of establishing a vehicle azimuth
US5574650A (en) * 1993-03-23 1996-11-12 Litton Systems, Inc. Method and apparatus for calibrating the gyros of a strapdown inertial navigation system
US5644317A (en) * 1995-03-27 1997-07-01 Motorola, Inc. Dual positioning location system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5424953A (en) * 1992-01-16 1995-06-13 Pioneer Electronic Corporation Navigation apparatus

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4903212A (en) * 1987-03-13 1990-02-20 Mitsubishi Denki Kabushiki Kaisha GPS/self-contained combination type navigation system
US5367463A (en) * 1991-07-15 1994-11-22 Matsushita Electric Industrial Co., Ltd. Vehicle position and azimuth computing system
US5345382A (en) * 1992-05-15 1994-09-06 Zexel Corporation Calibration method for a relative heading sensor
US5574650A (en) * 1993-03-23 1996-11-12 Litton Systems, Inc. Method and apparatus for calibrating the gyros of a strapdown inertial navigation system
US5416712A (en) * 1993-05-28 1995-05-16 Trimble Navigation Limited Position and velocity estimation system for adaptive weighting of GPS and dead-reckoning information
US5512904A (en) * 1994-06-13 1996-04-30 Andrew Corporation Method and apparatus of establishing a vehicle azimuth
US5644317A (en) * 1995-03-27 1997-07-01 Motorola, Inc. Dual positioning location system

Also Published As

Publication number Publication date
WO1998049577A2 (en) 1998-11-05
EP0934506A4 (en) 2001-01-17
EP0934506A2 (en) 1999-08-11

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