Patent ID: 6127970
Filing Date: 2000-10-03
Classification: G01S

Abstract:
A coupled real time GPS/IMU emulation method for positioning and location system, comprising the steps of:(a) inputting IMU measurement models and IMU error models into a coupled real time GPS/IMU emulation system according to a real IMU device of an integrated GPS/INS system to be tested, wherein said IMU measurement models comprise gyro measurement model and accelerometer measurement model which are determined by inertial sensor principles, and that said IMU error models comprises gyro error model and accelerometer error model which are defined by a user according to said real IMU device used in said integrated GPS/INS system to be tested;(b) producing real time trajectory data from a 6DOF trajectory generator and send said real time trajectory data to said coupled real time GPS/IMU emulation system, wherein said real time trajectory data are defined by said user and said coupled real time GPS/IMU emulation system produces dynamic GPS measurements and IMU signals as if a vehicle is really moving along a trajectory defined by said user;(c) generating output data including real time IMU data by said IMU model of said coupled real time GPS/IMU emulation system, and said GPS measurements by a GPS receiver model in said GPS/IMU emulation system;(d) formatting said GPS measurement data and converting said real time IMU data into IMU simulated electronic signals by an IMU signal generator in said coupled real time GPS/IMU emulation system, wherein said IMU signal generator is an interface board in an emulation computer provided in said coupled real time GPS/IMU emulation system;(e) processing said simulated GPS measurements and generated IMU simulated electronic signals by a standard interface and a regulator and connector circuit to form suitable electrical specifications and a connector pin arrangement that is compatible to said integrated GPS/INS system; and(f) injecting said simulated GPS measurements and said IMU simulated electronic signals into said integrated GPS/INS system, wherein when said integrated GPS/INS system is excited in dynamic operation, a performance thereof is able to be tested and evaluated as if carrying a real transportation test.