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1. (WO1998049577) METHODS FOR GYRO BIAS ESTIMATION USING GPS
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/1998/049577 International Application No.: PCT/US1998/006568
Publication Date: 05.11.1998 International Filing Date: 02.04.1998
IPC:
G01C 21/28 (2006.01) ,G01S 1/02 (2010.01)
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21
Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26
specially adapted for navigation in a road network
28
with correlation of data from several navigational instruments
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
1
Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
02
using radio waves
Applicants:
MOTOROLA INC. [US/US]; 1303 East Algonquin Road Schaumburg, IL 60196, US
Inventors:
GEIER, George, Jeffrey; US
Agent:
SMITH, Michael, L. ; Motorola Inc. Intellectual Property Dept. 1303 East Algonquin Road Schaumburg, IL 60196, US
Priority Data:
08/834,96607.04.1997US
Title (EN) METHODS FOR GYRO BIAS ESTIMATION USING GPS
(FR) PROCEDES PERMETTANT D'ESTIMER LE BIAIS D'UN GYROSCOPE AU MOYEN DU GPS
Abstract:
(EN) Augmenting the GPS receiver (30) with some form of Dead Recknoning (DR), such as a gyros (35), fills in the gaps occurring as a result of loss of GPS coverage. The present invention permits reliable and automatic estimation and calibration of the gyro zero rate bias. In particular, three specific methods (FIGs. 2-4) are disclosed whereby one method (FIG. 2) makes use of a 'GPS gyro' for detecting vehicle heading change, another (FIG. 3) makes use of a 'GPS accelerometer' for detecting stationary periods, and another (FIG. 4) makes use of a Kalman filter model for open loop heading error and is used to extract the contribution of and so estimate the gyro bias.
(FR) En ajoutant au récepteur GPS (30) une certaine forme de navigation à l'estime (DR), un gyroscope (35) par exemple, on remplit les trous dus à la perte de la couverture GPS. La présente invention permet d'estimer et de caler, d'une manière automatique et fiable, le biais du gyroscope à vitesse nulle. Elle concerne en particulier trois procédés spécifiques (figures 2-4): le premier (figure 2) utilise un 'gyroscope GPS' pour détecter un changement de cap du véhicule, le deuxième (figure 3) utilise un 'accéléromètre GPS' pour détecter des périodes stationnaires, et le troisième (figure 4), qui utilise un modèle de filtre de Kalman pour l'erreur de cap en boucle ouverte, permet d'extraire la contribution de ladite erreur, et donc de l'estimer.
Designated States: European Patent Office (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, IT, LU, MC, NL, PT, SE)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
EP0934506