Title:
【発明の名称】姿勢判断を備える航法装置
Document Type and Number:
Japanese Patent JPH09505896
Kind Code:
A
Abstract:
The navigation apparatus with improved attitude determination is intended for use on a mobile platform. It combines data from a platform inertial navigation unit and carrier phase data for a plurality of GPS satellite signals received at a plurality of receiving points on the platform for the purpose of obtaining estimates of the navigation states of the platform. The navigation apparatus comprises a processor which computes estimates of the states from inputs comprising (1) one or more measured phase double-differences calculated from the measured satellite signal carrier phases, (2) the estimated position of the platform, (3) the estimated positions of the receiving points, and (4) the positions of the satellites, a phase double-difference being defined as the difference in phase differences for signals received from two satellites and a phase difference being defined as the difference in carrier phase of a satellite signal received at two receiving points. The navigation and attitude determination solution is obtained by means of a Kalman filter process wherein the observables comprise measured phase double-differences and each predicted phase double-difference is obtained by operating on the Kalman state vector with an observation matrix defined by linearizing the equations relating the phase double-difference to the navigation states.
Inventors:
Booker, Robert Jay
Brockstein, Alan Jay
Shu, David Wye
Brockstein, Alan Jay
Shu, David Wye
Application Number:
JP51040996A
Publication Date:
June 10, 1997
Filing Date:
September 11, 1995
Export Citation:
Assignee:
Lytton Systems, Inc.
International Classes:
G01S5/02; G01S5/14; G01S19/15; G01C21/16; G01S19/44; G01S19/51; (IPC1-7): G01C21/16; G01S5/02; G01S5/14
Attorney, Agent or Firm:
Fukami Hisaro (3 outside)