GPS carrier-phase based relative navigation

Patent metadata

Field	Value
Publication number	US-9638526-B1
Application number	US-201414499800-A
Country	US
Kind code	B1
Filing date	Sep 29, 2014
Priority date	Mar 15, 2013
Publication date	May 2, 2017
Grant date	May 2, 2017

Abstract

Systems and methods for navigation of a vehicle may carry out one or more operations including, but not limited to: obtaining coordinates of a vector connecting two points in space using carrier phase measurements from global navigation system satellites (GNSS); setting the vector as an intended path of a vehicle; storing carrier phase signals from a GNSS receiver received at a first position of the vehicle; receiving carrier phase signals from a GNSS receiver at a second position of the vehicle; and determining a position of the vehicle relative to the intended path from one or more carrier phase signals received at the second position and one or more stored carrier phase signals received at the first position.

First claim

What is claimed is:

1. A system comprising:
at least one of a ground tracking radar system or an inertial guidance system;
a global navigation system satellite (GNSS) signal receiver;
a directional control system including control motors; and
at least one computing device in communication with the directional control system, the at least one computing device programmed for:
determining a first relative position vector connecting two points in space occupied by a vehicle at different times from at least one of ground tracking radar data or inertial guidance system data;
determining a second relative position vector connecting the two points in space using GNSS carrier phase measurements obtained at the two points;
comparing the first relative position vector and the second relative position vector to determine one or more coordinate differences between the first vector and the second vector;
providing, via a communication link, at least one notification indicative of the one or more coordinate differences between the first relative position vector and the second relative position vector to one of the at least one computing device and a display of the vehicle for a directional adjustment by the directional control system based on the one or more coordinate differences; and
controlling, via the directional control system, upon receipt of one or more control signals to perform the directional adjustment to redirect the vehicle to the first relative position vector thereby minimizing the one or more coordinate differences.

2. The system of claim 1 , wherein the directional control system is in communication with one of a ground steering mechanism and a flight control surface.

3. The system of claim 2 , wherein the ground steering mechanism comprises a brake or a wheel steering mechanism, and wherein the flight control surface comprises a rudder, and elevator, or an aileron.

4. The system of claim 1 , further comprising a vector database for storing at least the first relative position vector.

5. The system of claim 4 , wherein the computing device is further configured to receive a notification of a ground tracking radar system malfunction or an inertial guidance system malfunction.

6. The system of claim 5 , wherein the computing device is further configured to access the first relative position vector from the vector database for the comparing due to receiving the notification of the ground tracking radar system malfunction or the inertial guidance system malfunction.

7. The system of claim 6 , wherein the directional control system comprises an automatic directional control system receiving the one or more control signals to perform the directional adjustment and redirect the vehicle to the first relative position vector.

8. The system of claim 6 , wherein the display provides the notification to an operator of the vehicle for directing the operator to perform the directional adjustment.

9. The system of claim 1 , wherein the GNSS signal receiver is configured to receive a first plurality of carrier phase signals at a first point of the two points in space and a second plurality of carrier phase signals at a second point of the two points in space.

10. The system of claim 9 , wherein the computing device uses the first plurality of carrier phase signals and the second plurality of carrier phase signals to derive one or more velocities of the vehicle.

11. A system comprising:
at least one of a ground tracking radar system or an inertial guidance system;
a global navigation system satellite (GNSS) signal receiver configured to receive a plurality of carrier phase signals;
a control system for a directional adjustment including control motors; and
at least one computing device programmed for:
determining a first relative position vector connecting two points in space occupied by a vehicle at different times from at least one of ground tracking radar data or inertial guidance system data;
determining a second relative position vector connecting the two points in space using GNSS carrier phase measurements obtained at the two points from the plurality of carrier phase signals;
comparing the first relative position vector and the second relative position vector to determine one or more coordinate differences between the first vector and the second vector;
providing, via a communication link, at least one notification indicative of the one or more coordinate differences between the first relative position vector and the second relative position vector to a monitoring system for a cross-check of the ground tracking radar system or the inertial guidance system, the monitoring system in communication with the control system; and
redirecting, via the control system, the vehicle to the first relative position vector according to one or more control signals indicating the directional adjustment to minimize the one or more coordinate differences, wherein the redirecting is based on one of: the cross-check and the at least one notification.

12. The system of claim 11 , wherein the control system comprises an automatic control system configured to receive the one or more control signals to perform the directional adjustment to the vehicle.

13. The system of claim 12 , wherein the automatic control system comprises a first automatic control system and a second, redundant automatic control system, each of which are configured to receive the one or more control signals to perform the directional adjustment.

14. The system of claim 13 , wherein the cross-check performed by the monitoring system indicates a malfunction in the ground tracking radar system or the inertial guidance system, and upon receipt of the indication of the malfunction the second automatic control system is configured to receive the one or more control signals to perform the directional adjustment to the vehicle based on the one or more coordinate differences.

15. The system of claim 13 , wherein the second automatic control system is in communication with the GNSS receiver, the GNSS receiver being configured to receive and store a first plurality of carrier phase signals at a first point of the two points in space and receive a second plurality of carrier phase signals at a second point of the two points in space.

16. The system of claim 11 , wherein the plurality of carrier phase signals are used to derive a velocity of the vehicle to adjust a speed of the vehicle.

17. An electronic circuit, comprising:
one or more electrical circuitries configured for a) communicating with a global navigation satellite system (GNSS) signal receiver of a vehicle, the GNSS signal receiver configured to receive a plurality of carrier phase signals, b) communicating with a control system and c) communicating with a processor and a memory medium to perform instructions to conduct a plurality of steps, the plurality of steps comprising:
obtain, by the GNSS receiver, coordinates of a first vector connecting two points in space;
set the first vector as an intended path of the vehicle;
determine, by the processor, a second vector connecting two points in space using GNSS carrier phase measurements obtained at the two points, the second vector comprising a relative position vector of the vehicle;
compare, by the processor, the first vector and the second vector to determine one or more coordinate differences between the first vector and the second vector representing a deviation of the vehicle from the intended path of the vehicle;
provide a notification indicative of the deviation to the control system for a directional adjustment b

Assignees

• Rockwell Collins Inc

Inventors

• Gavrilets Vladislav
• Hwang Patrick
• Mcgraw Gary

Classifications

• G05D1/0653 Primary

  during a phase of take-off or landing · CPC title

• G05D1/042

  specially adapted for aircraft · CPC title

• G01S19/01

  Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO · CPC title

• G01C21/20 Primary

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• G05D1/0808

  specially adapted for aircraft · CPC title