Patent ID: 6266585
Filing Date: 2001-07-24
Classification: G01C,G01S

Abstract:
System based on GPS (Global Positioning System) interferometry or on any similar satellite constellation to measure the attitude of a vehicle (11), said system comprising:a three-axis gyroscopic sensor (9);an interferometric sensor (8) with multiple antennas (12), having at least three antennas, which measures the differential phase of the electromagnetic waves generated by source satellites (10), a piece of software for processing the data coming from said interferometric sensor (8) and from said gyroscopic sensor (9);said piece of software comprising in turn orbital dynamics (1) which represents the equations providing the angular velocity of the orbit reference frame at a given time, interferometer model (2) which provides the interferometric measurements expected and their derivatives on the basis of the positions of said source satellites (10), of the calibrated misalignments and of the esteemed attitude, pre-filter (3) which performs the functions of pre-filtering on the interferometric measurements and of pseudo-derivator, pre-filter (5) which performs the pre-filtering of the signals coming from said gyroscopic sensor, estimator (4) which, starting from the residuals between said interferometric measurements and their derivatives and between said interferometric measurements expected and their derivatives, produces feedback of attitude angles on the observer, kinematics (6) which calculates the attitude angles with respect to orbit reference frame starting from the relative inertial angular velocity of said vehicle (11) with respect to orbit reference frame, integrator (7) which integrates the differential equations of said estimator (4); said piece of software being constructed and arranged to perform the following functions: decoding of the positions of said source satellites (10) and, through the processing of the data coming from said source satellites (10), determination of the position of said vehicle (11);calculation of the three-axis attitude of said vehicle (11);calculation of the constant measurement error of said interferometer (8) with respect to the natural reference frame of said gyroscope (9);said estimator (4) uses the difference between the measurements from said interferometer (8) and the prediction of said measurements, as residuals whereby the measurements of the attitude of said vehicle is performed even if only one of said sources satellites (10) is in the field of view of said vehicle (11);the attitude measurements of said vehicle (11) is performed even in conditions of temporary invisibility of said source satellites (10); andsaid estimator (4) performs on-line the calibration of static errors of measurements of differential phase.