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公开(公告)号：US20150097724A1
公开(公告)日：2015-04-09
申请号：US14325446
申请日：2014-07-08
发明人： Vladimir V. Veitsel , Dmitry P. Nikitin , Andrey V. Plenkin , Andrey V. Veitsel , Mark I. Zhodzishsky , Victor A. Prasolov
IPC分类号： G01S19/13
摘要： The present invention relates to processing information generated by GNSS receivers received signals such as GPS, GLONASS, etc. GNSS receivers can determine their position in space. The receivers are capable of determining both coordinates and velocity of their spatial movement. When a receiver is used in any machine control systems, velocity vector heading (in other words, velocity vector orientation) should be determined along with velocity vector's absolute value. Angle, determining velocity vector orientation, is calculated based on velocity vector projections which are computed in navigation receivers. The accuracy of velocity vector orientation calculated based on velocity vector projections strongly enough depends on velocity vector's absolute value. To enhance the accuracy, a method of smoothing primary estimates of velocity vector orientation angles using a modified Kalman filter has been proposed. The bandwidth of this filter is varied depending on current estimates of velocity vector's absolute value which were calculated based on the same velocity vector projections.
摘要翻译： 本发明涉及由GNSS接收机生成的接收信号（例如GPS，GLONASS等）的处理信息。GNSS接收机可以确定它们在空间中的位置。 接收机能够确定其空间运动的坐标和速度。 当接收机用于任何机器控制系统时，速度矢量标题（换句话说，速度矢量方向）应与速度矢量的绝对值一起确定。 基于在导航接收机中计算的速度矢量投影计算角度，确定速度矢量方向。 基于速度矢量投影计算出的速度矢量方向的精确度足够高取决于速度矢量的绝对值。 为了提高准确性，已经提出了使用改进的卡尔曼滤波器来平滑速度矢量定向角的初级估计的方法。 该滤波器的带宽根据基于相同速度矢量投影计算的速度矢量绝对值的当前估计而变化。
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公开(公告)号：US09052388B2
公开(公告)日：2015-06-09
申请号：US14325446
申请日：2014-07-08
发明人： Vladimir V. Veitsel , Dmitry P. Nikitin , Andrey V. Plenkin , Andrey V. Veitsel , Mark I. Zhodzishsky , Victor A. Prasolov
IPC分类号： G01S19/13
摘要： The present invention relates to processing information generated by GNSS receivers received signals such as GPS, GLONASS, etc. GNSS receivers can determine their position in space. The receivers are capable of determining both coordinates and velocity of their spatial movement. When a receiver is used in any machine control systems, velocity vector heading (in other words, velocity vector orientation) should be determined along with velocity vector's absolute value. Angle, determining velocity vector orientation, is calculated based on velocity vector projections which are computed in navigation receivers. The accuracy of velocity vector orientation calculated based on velocity vector projections strongly enough depends on velocity vector's absolute value. To enhance the accuracy, a method of smoothing primary estimates of velocity vector orientation angles using a modified Kalman filter has been proposed. The bandwidth of this filter is varied depending on current estimates of velocity vector's absolute value which were calculated based on the same velocity vector projections.
摘要翻译： 本发明涉及由GNSS接收机生成的接收信号（例如GPS，GLONASS等）的处理信息。GNSS接收机可以确定它们在空间中的位置。 接收机能够确定其空间运动的坐标和速度。 当接收机用于任何机器控制系统时，速度矢量标题（换句话说，速度矢量方向）应与速度矢量的绝对值一起确定。 基于在导航接收机中计算的速度矢量投影计算角度，确定速度矢量方向。 基于速度矢量投影计算出的速度矢量方向的精确度足够高取决于速度矢量的绝对值。 为了提高准确性，已经提出了使用改进的卡尔曼滤波器来平滑速度矢量定向角的初级估计的方法。 该滤波器的带宽根据基于相同速度矢量投影计算的速度矢量绝对值的当前估计而变化。
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