Systems and methods for estimating attitude using double differenced GPS carrier phase measurements

Patent metadata

Field	Value
Publication number	US-9529093-B2
Application number	US-201314054396-A
Country	US
Kind code	B2
Filing date	Oct 15, 2013
Priority date	Oct 12, 2012
Publication date	Dec 27, 2016
Grant date	Dec 27, 2016

Abstract

Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.

First claim

What is claimed is:

1. A computer-implemented method for estimating an attitude of a device, the method comprising:
obtaining, by one or more computing devices, an initial candidate attitude;
determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude;
inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function, wherein the cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values;
minimizing, by the one or more computing devices, the cost function; and
selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.

2. The computer-implemented method of claim 1 , wherein obtaining, by the one or more computing devices, the initial candidate attitude comprises obtaining, by the one or more computing devices, an estimated attitude, the estimated attitude having been previously determined based at least in part on data from one or more inertial measurement units.

3. The computer-implemented method of claim 1 , wherein obtaining, by the one or more computing devices, the initial candidate attitude comprises obtaining, by the one or more computing devices, a default candidate attitude, wherein the default candidate attitude complies with one or more logical constraints associated with the device.

4. The computer-implemented method of claim 1 , wherein obtaining, by the one or more computing devices, the initial candidate attitude comprises obtaining, by the one or more computing devices, a previous final candidate attitude associated with a previous epoch.

5. The computer-implemented method of claim 1 , wherein:
the device comprises a first receiver antenna and a second receiver antenna; and
the initial candidate attitude comprises an initial candidate pitch angle and an initial candidate yaw angle associated with the first and second receiver antennas.

6. The computer-implemented method of claim 5 , wherein the initial candidate attitude further comprises an estimated separation distance between respective phase centers of the first and second receiver antennas.

7. The computer-implemented method of claim 1 , wherein determining, by the one or more computing devices, the plurality of expected double differenced carrier phase values based on the initial candidate attitude comprises:
determining, by the one or more computing devices, a local vector between a first and second receiver antenna of the device;
rotating, by the one or more computing devices, the local vector from a device coordinate frame to a global coordinate frame such that a global vector is obtained;
determining, by the one or more computing devices, a plurality of line of sight vectors respectively associated with a plurality of satellite pairings;
respectively projecting, by the one or more computing devices, the global vector onto the plurality of line of sight vectors to obtain a plurality of expected double differenced measurements; and
respectively converting, by the one or more computing devices, the plurality of expected double differenced measurements to units of radians to obtain the plurality of expected double differenced carrier phase values.

8. The computer-implemented method of claim 7 , wherein:
each of the plurality of satellite pairings comprises a reference satellite and a non-reference satellite;
the reference satellite comprises a single satellite for all of the plurality of satellite pairings; and
the line of sight vector associated with each satellite pairing describes a line of sight from the device to the non-reference satellite of such satellite pairing.

9. The computer-implemented method of claim 1 , wherein inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into the cost function comprises:
respectively differencing, by the one or more computing devices, the plurality of expected double differenced carrier phase values with the plurality of measured double differenced carrier phase values to obtain a plurality of residual values;
normalizing, by the one or more computing devices, the plurality of residual values to obtain a plurality of normalized residual values; and
inputting, by the one or more computing devices, the plurality of normalized residual values into the cost function, wherein the cost function comprises a sum of each of the plurality of normalized residual values squared.

10. The computer-implemented method of claim 9 , wherein normalizing, by the one or more computing devices, the plurality of residual values comprises determining, by the one or more computing devices for each of the plurality of residual values, the inverse tangent of the sine of the residual value divided by the cosine of the residual value.

11. The computer-implemented method of claim 1 , wherein the cost function comprises a sum of each of a plurality of residual functions squared, and wherein each residual function comprises a difference between one of the plurality of expected double differenced carrier phase values and one of the plurality of measured double differenced carrier phase values.

12. The computer-implemented method of claim 1 , wherein minimizing, by the one or more computing devices, the cost function comprises minimizing, by the one or more computing devices, the cost function using an iterative least squares solver.

13. The computer-implemented method of claim 1 , further comprising repeating, by the one or more computing devices for each of a plurality of epochs, the steps of obtaining an initial candidate attitude, determining a plurality of expected double differenced carrier phase values, inputting the plurality of expected double differenced carrier phase values into a cost function, minimizing the cost function, and selecting a final candidate attitude.

14. The computer-implemented method of claim 1 , further comprising associating, by the one or more computing devices, the attitude of the device with one or more images that were captured by the device at approximately the same time as the device received a plurality of satellite signals associated with the plurality of measured double differenced carrier phase values.

Assignees

• Google Inc

Inventors

• Nichols Jonathan
• Roseborough James Brian
• Robinson Craig Lewin
• Mokhtarzadeh Hamid

Classifications

• G01S19/54 Primary

  using carrier phase measurements; using long or short baseline interferometry · CPC title