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公开(公告)号：WO1995004959A1
公开(公告)日：1995-02-16
申请号：PCT/US1993007469
申请日：1993-08-10
Applicant: HONEYWELL INC.
IPC: G05G09/047
CPC classification number: G05G9/04737 , B25J9/0057 , B25J13/02 , B25J17/0266
Abstract: A six-degree-of-freedom hand controller in which motions along six axes are resisted by motors (53-54, 63-64, 83-84) and in which the motors are arranged so as not to be required to carry the mass of another motor and to provide the proper "feel" for the motion of the hand grip (10) is provided.
Abstract translation: 一个六自由度手控制器，其中沿着六个轴的运动被电动机抵抗（53-54,63-64,83-84），并且其中电动机被布置成不需要承载质量 并且为手柄（10）的运动提供适当的“感觉”。
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公开(公告)号：WO1998029757A1
公开(公告)日：1998-07-09
申请号：PCT/US1997021500
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： HONEYWELL INC. , SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
IPC: G01S05/02
CPC classification number: G01C21/165 , G01S19/36 , G01S19/53 , G01S19/55
Abstract: A method for use in vehicle attitude determination includes generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles. An inertial navigation system is initialized by setting the attitude of the inertial navigation system to a GPS attitude solution generated for the vehicle and/or the attitude of the inertial navigation system is updated using the GPS attitude solutions generated for the vehicle or GPS estimated attitude error generated for the vehicle. A system for use in vehicle navigation is also provided. The system generally includes three or more GPS antenna/receiver sets associated with a vehicle, an inertial measurement unit that provides inertial measurements for the vehicle, a processing unit of the system having the capability for generating GPS attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles; the GPS attitude computations include at least one of absolute attitudes and estimated attitude errors. The processing unit of the system also includes a filter for generating estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.
Abstract translation: 用于车辆姿态确定的方法包括：使用接收来自两个或更多个太空车辆的GPS信号的三个或更多个天线为车辆生成GPS姿态解决方案。 惯性导航系统通过将惯性导航系统的姿态设置为针对车辆产生的GPS姿态解决方案和/或者使用为车辆生成的GPS姿态解或GPS估计姿态误差来更新惯性导航系统的姿态来初始化 为车辆生成。 还提供了用于车辆导航的系统。 该系统通常包括与车辆相关联的三个或更多个GPS天线/接收机组，为车辆提供惯性测量的惯性测量单元，该系统的处理单元具有用于使用三个或更多的车辆生成用于车辆的GPS姿态计算的能力 更多的GPS天线/接收机和来自两个或更多的太空车辆的信号; GPS姿态计算包括绝对态度和估计姿态误差中的至少一种。 系统的处理单元还包括一个过滤器，用于使用来自惯性测量单元的惯性测量值和姿态计算产生车辆的姿态估计。
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公开(公告)号：WO1998029755A1
公开(公告)日：1998-07-09
申请号：PCT/US1997021495
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： HONEYWELL INC. , SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
IPC: G01S01/04
Abstract: A multipath detection method for use in a GPS position determination system includes providing a code pseudorange measurement representative of a range of an antenna to a space vehicle and a carrier phase pseudorange measurement representative of the range of the antenna to the space vehicle. A code-carrier measurement difference is then generated between the code pseudorange measurement and the carrier phase pseudorange measurement. This code-carrier measurement difference is examined to determine if a multipath component is present. If the difference indicates that multipath is likely to be present, use of such measurements in computing position solutions, such as attitude solutions, is avoided. A multipath detection system for carrying out the method is also described.
Abstract translation: 用于GPS位置确定系统的多径检测方法包括提供代表天线到空间载波的范围的代码伪距测量，以及代表天线到空间载波的范围的载波相位伪距测量。 然后在代码伪距测量和载波相位伪距测量之间产生码载波测量差。 检查该码载波测量差异以确定是否存在多径分量。 如果差异表明多路径可能存在，则避免在计算位置解决方案（如姿态解决方案）中使用此类测量。 还描述了用于执行该方法的多路径检测系统。
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公开(公告)号：WO1998029754A1
公开(公告)日：1998-07-09
申请号：PCT/US1997021499
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： HONEYWELL INC. , SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
IPC: G01S01/02
CPC classification number: G01S19/235 , G01S19/53
Abstract: A GPS receiver fault detection method for use in a GPS attitude determination system having Q Receivers, wherein Q > 3, includes providing R attitude solutions using subsets of P Receivers and signals from two or more space vehicles, wherein R 3
Abstract translation: 一种GPS接收机故障检测方法，用于具有Q接收机的GPS姿态确定系统，其中Q> 3包括使用P个接收机的子集和来自两个或更多个空中交通工具的信号提供R姿态解决方案，其中R 3 < / = Q-1。 确定等于姿态解的数R的更新后测量残差集。 每个后更新测量残差集对应于姿态解中的一个。 “S”通过比较R后更新测量残差组来检测接收机故障，其中1
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公开(公告)号：EP0950193B1
公开(公告)日：2001-01-10
申请号：EP97952220.8
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
IPC: G01S1/02
CPC classification number: G01S19/235 , G01S19/53
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Patent Agency Ranking
公开(公告)号：EP1188066B1
公开(公告)日：2004-04-21
申请号：EP00938223.5
申请日：2000-06-08
Applicant: Honeywell Inc.
Inventor： DVORAK, Mark, D. , KRIZ, Jeffrey, J. , SCHIPPER, Brian, W.
CPC classification number: G01S5/12 , G01S13/878
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公开(公告)号：EP0950193A1
公开(公告)日：1999-10-20
申请号：EP97952220.0
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
CPC classification number: G01S19/235 , G01S19/53
Abstract: A GPS receiver fault detection method for use in a GPS attitude determination system having Q Receivers, wherein Q > 3, includes providing R attitude solutions using subsets of P Receivers and signals from two or more space vehicles, wherein R 3 ≤ P ≤ Q-1. Post-update measurement residual sets equal to the number R of attitude solutions are determined. Each of the post-update measurement residual sets corresponds to one of the attitude solutions. 'S' Receiver faults are detected by comparing the R post-update measurement residual sets, wherein 1 ≤ S ≤ Q-3. A faulty Receiver detection system for carrying out the method is also described.
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公开(公告)号：EP0948748A1
公开(公告)日：1999-10-13
申请号：EP97952219.0
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
Abstract: A multipath detection method for use in a GPS position determination system includes providing a code pseudorange measurement representative of a range of an antenna to a space vehicle and a carrier phase pseudorange measurement representative of the range of the antenna to the space vehicle. A code-carrier measurement difference is then generated between the code pseudorange measurement and the carrier phase pseudorange measurement. This code-carrier measurement difference is examined to determine if a multipath component is present. If the difference indicates that multipath is likely to be present, use of such measurements in computing position solutions, such as attitude solutions, is avoided. A multipath detection system for carrying out the method is also described.
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公开(公告)号：EP1188066A1
公开(公告)日：2002-03-20
申请号：EP00938223.5
申请日：2000-06-08
Applicant: Honeywell Inc.
Inventor： DVORAK, Mark, D. , KRIZ, Jeffrey, J. , SCHIPPER, Brian, W.
CPC classification number: G01S5/12 , G01S13/878
Abstract: Multiple pulses of narrow band signals of varying frequency are detected by multiple spaced apart receivers such that average time difference of arrivals of the signals from an item to be located are determined. The average time differences are used to calculate a position of the item to be located with a desired accuracy, such as within one meter in one embodiment. One of multiple receivers or rangers initiates a location process by transmitting a sync pulse. The sync pulse is received by a scout and other rangers. The scout is a small robot which acts as a transponder, sending out its own narrow band return pulse in response to the sync pulse. Each ranger then determines a difference in time between the sync pulse it receives and the return pulse generated by the scout. The location process is then repeated again at different selected narrow band frequencies, and an average of the difference in time at each ranger is determined. Each ranger is networked together via a standard wireless network, and also obtains position information via standard GPS methods. An iterative calculation of the location of the scout is used to improve an estimated position solution. Time difference of arrival between two rangers is expressed as an equation with three unknown variables, x, y and z, which define a position of the scout in three dimensional space. The locus of a point that satisfies this equation is hyperbolic. The iterative calculation uses at least squares approach to improve the estimated position to within a required tolerance.
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公开(公告)号：EP0948750A1
公开(公告)日：1999-10-13
申请号：EP97953047.0
申请日：1997-11-20
Applicant: HONEYWELL INC.
Inventor： SHEIKH, Suneel, I. , VALLOT, Lawrence, C. , SCHIPPER, Brian, W.
CPC classification number: G01C21/165 , G01S19/36 , G01S19/53 , G01S19/55
Abstract: A method for use in vehicle attitude determination includes generating GPS attitude solutions for a vehicle using three or more antennas receiving GPS signals from two or more space vehicles. An inertial navigation system is initialized by setting the attitude of the inertial navigation system to a GPS attitude solution generated for the vehicle and/or the attitude of the inertial navigation system is updated using the GPS attitude solutions generated for the vehicle or GPS estimated attitude error generated for the vehicle. A system for use in vehicle navigation is also provided. The system generally includes three or more GPS antenna/receiver sets associated with a vehicle, an inertial measurement unit that provides inertial measurements for the vehicle, a processing unit of the system having the capability for generating GPS attitude computations for the vehicle using the three or more GPS antenna/receiver sets and signals from two or more space vehicles; the GPS attitude computations include at least one of absolute attitudes and estimated attitude errors. The processing unit of the system also includes a filter for generating estimates of attitude for the vehicle using the inertial measurements from the inertial measurement unit and the attitude computations.
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