CA2279877A1 - A navigation/guidance system for a land-based vehicle - Google Patents

A navigation/guidance system for a land-based vehicle Download PDF

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Publication number
CA2279877A1
CA2279877A1 CA002279877A CA2279877A CA2279877A1 CA 2279877 A1 CA2279877 A1 CA 2279877A1 CA 002279877 A CA002279877 A CA 002279877A CA 2279877 A CA2279877 A CA 2279877A CA 2279877 A1 CA2279877 A1 CA 2279877A1
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CA
Canada
Prior art keywords
navigation
land
based vehicle
guidance system
compensate
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Granted
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CA002279877A
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French (fr)
Other versions
CA2279877C (en
Inventor
Kelvin Korver
Wesley Hawkinson
Donovan Boedigheimer
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Priority claimed from PCT/US1997/002445 external-priority patent/WO1998036288A1/en
Publication of CA2279877A1 publication Critical patent/CA2279877A1/en
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Publication of CA2279877C publication Critical patent/CA2279877C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder

Abstract

A navigation/guidance system (10) uses a dead reckoning navigator with periodic GPS fixes to correct the drift of the inertial system. The navigation system (10) primarily uses speed sensed by Doppler radar (30) and attitude and heading sensed by a set of gyros (24). The navigation system (10) uses various processes to compensate for any sensor errors. The system uses attitude data to compensate for GPS leverarm errors. The system can be used on a land-based vehicle (60) to economically and accurately provide navigation data.
CA002279877A 1996-02-05 1997-02-14 A navigation/guidance system for a land-based vehicle Expired - Fee Related CA2279877C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/596,957 US5928309A (en) 1996-02-05 1996-02-05 Navigation/guidance system for a land-based vehicle
US08/596,957 1996-02-05
PCT/US1997/002445 WO1998036288A1 (en) 1997-02-14 1997-02-14 A navigation/guidance system for a land-based vehicle

Publications (2)

Publication Number Publication Date
CA2279877A1 true CA2279877A1 (en) 1998-08-20
CA2279877C CA2279877C (en) 2005-09-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CA002279877A Expired - Fee Related CA2279877C (en) 1996-02-05 1997-02-14 A navigation/guidance system for a land-based vehicle

Country Status (2)

Country Link
US (1) US5928309A (en)
CA (1) CA2279877C (en)

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