Hybrid inertial navigation system with improved integrity

Details Hybrid inertial navigation system with improved integrity Hybrid inertial navigation system with improved integrity

G - Physics

01

C

G01C 21/16 (2006.01) G01S 5/14 (2006.01)

Patent

CA 2461595

The invention relates to an inertial system hybridised with a GPS receiver. Said hybridisation is carried out by Kalman filtering, by means of which a new hybrid position D_HYB is estimated from a deviation observed (Yo) between (i) pseudo-distances measured by the receiver between the receiver and the different satellites and (ii) the corresponding distances calculated by the inertial system between the system and the same satellites. In the aforementioned filtering, the distance increment from one measuring time to the next, between (i) the pseudo-distance previously measured by the receiver on a satellite axis in order to observe a deviation and (ii) the new pseudo-distance measured by the receiver on said axis, is the phase variation .DELTA..PHI.¿i? = .PHI.¿i?(t) - .PHI.¿i?(t-1) of a digital oscillator between the two measuring times, said variation being brought along the length of the satellite axis in terms of distance. The oscillator can be used to slave the local carrier frequency in the receiver to the carrier frequency received from the satellite. The invention can be used for position measuring with an increased degree of security.

L'invention concerne une centrale inertielle hybridée avec un récepteur GPS. L'hybridation est faite par un filtrage de Kalman par lequel on estime une nouvelle position hybride D_HYB a partir d'un ecart constaté (Yo) entre d'une part des pseudo-distances mesurées par le récepteur entre le récepteur et les différents satellites et d'autre part des distances correspondantes calculées par la centrale inertielle entre la centrale et les mêmes satellites. Dans ce filtrage, I'incrément de distance d'un instant de mesure à I'instant suivant, entre la pseudo-distance précédemment mesurée par le récepteur sur un axe satellite en vue de la constatation d'un écart et la nouvelle pseudo-distance mesurée par le récepteur sur cet axe, est la variation de phase .DELTA..PHI.i = .PHI.i(t) - .PHI.i(t-1) d'un oscillateur numérique entre les deux instants de mesure, cette variation étant ramenée en distance le long de l'axe satellite. L'oscillateur est celui qui permet d'asservir la fréquence locale de porteuse dans le récepteur à la fréquence de porteuse reçue du satellite. Application à la mesure de position avec un degré de sécurite élevée.

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