Patent ID: 7970500
Filing Date: 2011-06-28
Classification: G01C,G05D

Abstract:
1. A system for estimating the position, velocity and orientation of a vehicle, comprising: an Inertial Measurement Unit (IMU) including a group of at least three gyroscopes for measuring the angular velocity a magnetometer able to measure the Earth's magnetic field according to the vehicle body axes; static pressure and differential pressure sensors; two vanes to measure the angles of attack and side slip; an angular velocity acquisition and processing module configured to acquire the angular velocity a data acquisition and processing module configured to acquire the specific force the numerical derivative of the air velocity in body axes (t−τ), the local gravity in body axes b as follows: and the projection of the Earth's magnetic field on the horizontal plane perpendicular to local gravity {right arrow over (e)}(t−τ) as follows: a GPS receiver for determining the components of said two noncollinear constant unit vectors {right arrow over (g)} a module for correcting said angular velocity a module for integrating the kinematic equations of the vehicle receiving the corrected angular velocity a synthesis module of the components in body axes of the two noncollinear constant unit vectors to provide an estimation of said noncollinear vectors in body axes ĝ a control module implementing a control law to calculate said correction u where σ is a positive scalar, such that by applying this correction u