Patent ID: 6671587
Filing Date: 2003-12-30
Classification: B60T,G01P,G01S

Abstract:
An apparatus for determining an angular rate of a vehicle using global positioning system (GPS) signals, said apparatus comprising:a first receiving antenna installed on the vehicle at a first known location, said first receiving antenna receiving GPS signals broadcast from multiple GPS transmitters; a second receiving antenna installed on the vehicle at a second known location for receiving the GPS signals, said second receiving antenna arranged on the vehicle at a predetermined distance from the first receiving antenna; and a controller processing the GPS signals received by the first and second receiving antennas, said controller monitoring a carrier frequency associated with the received GPS signals and determining a change in the carrier frequency due to Doppler effect for each of the first and second receiving antennas, said controller further determining first and second inertial velocity vectors for the respective first and second antennas based on the change in carrier frequency, and determining said angular rate of the vehicle based on the first and second inertial velocity vectors.