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1. 发明申请

US20120265440A1 OPTIMAL COMBINATION OF SATELLITE NAVIGATION SYSTEM DATA AND INERTIAL DATA 有权
标题翻译：卫星导航系统数据和实时数据的最优组合
公开(公告)号：US20120265440A1
公开(公告)日：2012-10-18
申请号：US13446093
申请日：2012-04-13
申请人： Kenneth Steven Morgan
发明人： Kenneth Steven Morgan
IPC分类号： G01C21/00 , G01C21/16
CPC分类号： G01C21/165
摘要： A navigation system comprises at least one processor, a satellite navigation receiver operatively coupled to the processor and configured to receive a plurality of navigation signals from one or more navigation satellites, and an inertial measurement unit operatively coupled to the processor and configured to generate inertial measurement data. An extended Kalman filter is configured to receive the plurality of navigation signals and the inertial measurement data. A processor readable storage medium includes instructions executable by the processor to combine the plurality of satellite signals with the inertial measurement data in the extended Kalman filter to generate a navigation solution. The plurality of navigation signals includes L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements.
摘要翻译：导航系统包括至少一个处理器，卫星导航接收器，可操作地耦合到所述处理器并且被配置为从一个或多个导航卫星接收多个导航信号，以及惯性测量单元，其可操作地耦合到所述处理器并被配置成产生惯性测量数据。扩展卡尔曼滤波器被配置为接收多个导航信号和惯性测量数据。处理器可读存储介质包括可由处理器执行的指令，以将多个卫星信号与扩展卡尔曼滤波器中的惯性测量数据组合以产生导航解决方案。多个导航信号包括L1伪距测量，L2伪距测量，L1累积载波相位测量和L2累积载波相位测量。

2. 发明授权

US10444017B2 Method to improve leveling performance in navigation systems 有权
公开(公告)号：US10444017B2
公开(公告)日：2019-10-15
申请号：US13464298
申请日：2012-05-04
申请人： Charles T. Bye , Fan Liu , Kenneth Steven Morgan
发明人： Charles T. Bye , Fan Liu , Kenneth Steven Morgan
IPC分类号： G01C21/16
摘要： An attitude estimator system is provided. The attitude estimator system includes a navigation system, a Kalman filter, and a form observations module. The navigation system receives input from a first accelerometer and gyroscope, a second accelerometer and gyroscope, and a third accelerometer and gyroscope. The form observations module receives input from at least one high performance accelerometer and/or gyroscope; forms and outputs at least one of velocity-derived observations and attitude-derived observations. The Kalman filter processes by at least one of: inputting the velocity-derived observations formed in the form observations module, rotating the velocity-derived observation into a sensor-frame, and zeroing gains associated with at least one low performance accelerometer and/or gyroscope; or inputting the attitude-derived observations that are based on output from at least one of the first high performance accelerometer, the first high performance gyroscope, and the second high performance accelerometer.

3. 发明授权

US08589072B2 Optimal combination of satellite navigation system data and inertial data 有权
标题翻译：卫星导航系统数据与惯性数据的最优组合
公开(公告)号：US08589072B2
公开(公告)日：2013-11-19
申请号：US13446093
申请日：2012-04-13
申请人： Kenneth Steven Morgan
发明人： Kenneth Steven Morgan
IPC分类号： G01C21/00
CPC分类号： G01C21/165
摘要： A navigation system comprises at least one processor, a satellite navigation receiver operatively coupled to the processor and configured to receive a plurality of navigation signals from one or more navigation satellites, and an inertial measurement unit operatively coupled to the processor and configured to generate inertial measurement data. An extended Kalman filter is configured to receive the plurality of navigation signals and the inertial measurement data. A processor readable storage medium includes instructions executable by the processor to combine the plurality of satellite signals with the inertial measurement data in the extended Kalman filter to generate a navigation solution. The plurality of navigation signals includes L1 pseudorange measurements, L2 pseudorange measurements, L1 accumulated carrier phase measurements, and L2 accumulated carrier phase measurements.
摘要翻译：导航系统包括至少一个处理器，卫星导航接收器，可操作地耦合到所述处理器并且被配置为从一个或多个导航卫星接收多个导航信号，以及惯性测量单元，其可操作地耦合到所述处理器并被配置成产生惯性测量数据。扩展卡尔曼滤波器被配置为接收多个导航信号和惯性测量数据。处理器可读存储介质包括可由处理器执行的指令，以将多个卫星信号与扩展卡尔曼滤波器中的惯性测量数据组合以产生导航解决方案。多个导航信号包括L1伪距测量，L2伪距测量，L1累积载波相位测量和L2累积载波相位测量。

4. 发明申请

US20130103344A1 METHOD TO IMPROVE LEVELING PERFORMANCE IN NAVIGATION SYSTEMS 审中-公开
标题翻译：提高航行系统性能的方法
公开(公告)号：US20130103344A1
公开(公告)日：2013-04-25
申请号：US13464298
申请日：2012-05-04
申请人： Charles T. Bye , Fan Liu , Kenneth Steven Morgan
发明人： Charles T. Bye , Fan Liu , Kenneth Steven Morgan
IPC分类号： G06F15/00
CPC分类号： G01C21/16
摘要： An attitude estimator system is provided. The attitude estimator system includes a navigation system, a Kalman filter, and a form observations module. The navigation system receives input from a first accelerometer and gyroscope, a second accelerometer and gyroscope, and a third accelerometer and gyroscope. The form observations module receives input from at least one high performance accelerometer and/or gyroscope; forms and outputs at least one of velocity-derived observations and attitude-derived observations. The Kalman filter processes by at least one of: inputting the velocity-derived observations formed in the form observations module, rotating the velocity-derived observation into a sensor-frame, and zeroing gains associated with at least one low performance accelerometer and/or gyroscope; or inputting the attitude-derived observations that are based on output from at least one of the first high performance accelerometer, the first high performance gyroscope, and the second high performance accelerometer.
摘要翻译：提供了一种姿态估计系统。态度估计器系统包括导航系统，卡尔曼滤波器和表单观察模块。导航系统接收来自第一加速度计和陀螺仪，第二加速度计和陀螺仪以及第三加速度计和陀螺仪的输入。表单观察模块从至少一个高性能加速度计和/或陀螺仪接收输入; 形成并输出速度衍生观测值和姿态衍生观测值中的至少一个。卡尔曼滤波器通过以下中的至少一个进行处理：输入在形式观察模块中形成的速度导出观测值，将速度导出的观测转换成传感器框架，以及归零与至少一个低性能加速度计和/或陀螺仪相关联的增益 ; 或输入基于来自第一高性能加速度计，第一高性能陀螺仪和第二高性能加速度计中的至少一个的输出的姿态衍生观测值。

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