Moving vehicle attitude measuring system

Abstract

A system for determining attitude of airborne vehicles or surface vehicles is provided with three fixed position antennas separated from each other by a predetermined calibrated distance. Each antenna is connected to a GPS receiver and the receiver outputs are coupled to a phase comparator which establishes the phase difference between the RF carrier signal of the three possible pairs of receivers. The outputs of the phase comparator are coupled to a preprogrammed dedicated processor that calculates a coordinate frame which fixes the attitude of the plurality of antennas in space. The processor then makes a comparison with a precalibrated reference attitude stored in an associated memory so that a true attitude value of roll, pitch and yaw may be calculated and employed to reposition the gyro of the moving vehicle.

Claims

What is claimed is: 1. An attitude measuring system for a moving vehicle, comprising: a plurality of fixed position antennas in said moving vehicle separated from each other by a known calibrated distance, a GPS receiver coupled to each of said fixed position antennas, each said GPS receiver adapted to receive the same GPS signals from a corresponding GSP satellite and simultaneously produce an output RF carrier signal, a phase comparator coupled to the individual RF carrier signal outputs from said receivers for comparing the RF carrier phase difference, between any two of said receivers and for producing digital phase difference signals based on the comparison, processor means coupled to said phase comparator for receiving said digital phase difference signals indicative of the line of sight pointing angles to the GPS satellite having a calculable known position, memory means coupled to said processor means and containing the latest pre-calibrated reference attitude information of the moving vehicle's attitude, and means in said processor means for calculating a coordinate frame for determining the attitude of said plurality of antennas in space and for making a comparison with said pre-calibrated reference attitude information and for producing a true attitude value (θ RPY) output signal based on said comparison and said digital phase difference signals to be applied as an input to a gyro bias calibration system or employed as a stand alone attitude signal. 2. An attitude measuring system as set forth in claim 1 wherein the calibrated distance between said antennas is comprises said pre-calibrated reference attitude information stored in said memory means. 3. An attitude measuring system as set forth in claim 1 wherein said moving vehicle is a high speed airborne platform and said plurality of said antennas comprises three antennas connected to the three GPS receivers. 4. An attitude measuring system as set forth in claim 3 wherein said phase comparator comprises multiplexer means for rapidly sequencing and sampling GPS signal information from said three receivers. 5. An attitude measuring system as set forth in claim 4 wherein said phase comparator further includes three accurate electronic phase lock loops coupled to said multiplexer for coupling each possible combination of pairs of three antennas for providing three sets of analog error signals. 6. An attitude measuring system as set forth in claim 5 wherein said phase comparator further includes a sample and hold means for converting said analog sets of error signals into said digital phase difference signals individually coupled to said processor means.
BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to attitude measuring systems. More particularly, the present invention system is adapted to supply the same correction information to a satellite attitude measuring system as is presently supplied by a star tracking system and/or a horizon and sun measuring system. 2. Description of the Prior Art Attitude measuring systems for determining roll, pitch and yaw (RPY or θ RPY) are known and used in satellites and on aircraft to determine RPY of moving platforms. Heretofore, such moving platforms have included on board a gyro attitude package which comprises three gyros, one each for roll, pitch and yaw. Before an aircraft takes off its gyro attitude system is calibrated and is not corrected during flight. Gyros are subject to drift and must be updated or recalibrated, accordingly, there is provided in every satellite system some type of gyro correction system. The most common calibration systems are star tracking systems that produce RPY information based on the position of known stars and horizon and sun systems which employ sun direction and horizon position information. Both of these correction systems are presently used system which employed telescopes mounted on movable gimble platforms which are accompanied with the proper control and positioning structure. When extremely accurate attitude position is required, there is no substitute for the accuracy of a star tracking system. However, ninety percent of all the satellites that are launched do not require the accuracy of a star tracking system which is known to cost up to $1 million for each package. It would be extremely desirable to provide an attitude measuring system which is more accurate than the known horizon and sun attitude measuring system yet costs less. SUMMARY OF THE INVENTION It is a principal object of the present invention to provide an inexpensive and accurate attitude determination system. It is another principal object of the present invention to provide an inexpensive system for measuring roll, pitch and yaw in a moving vehicle. It is another principal object of the present invention to provide an accurate attitude determination system which is more accurate and less expensive than presently available horizon and sun sensing systems used in satellites. It is another principal object of the present invention to provide an attitude determination for moving satellites which employ data regularly transmitted from global positioning system satellites. It is another general object of the present invention to provide an attitude determination system which is lighter and more reliable and has no moving parts and is more accurate than horizon and sun sensing systems. It is another general object of the present invention to provide a system for measuring roll, pitch and yaw which may be used in ground vehicles and ships. According to these and other objects of the present invention, there is provided a novel attitude determination system which employs three fixed position antennas separated from each other by a calibrated distance. Each of the antennas is connected to a GPS receiver and their outputs are coupled to a phase comparator for establishing the phase difference of the RF carrier signal from the GPS system. The output of the phase comparator is fed into a dedicated processor which is preprogrammed to calculate a coordinate frame which fixes the attitude of the plurality of antennas in space and makes a comparison with a precalibrated reference attitude stored in memory means associated with the processor so that a true attitude value θ RPY may be calculated and applied as an output to the gyro bias calibrating system of a moving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a simplified block diagram showing a prior art attitude sensing system coupled to a known type of gyro attitude system; and FIG. 2 is a simplified block diagram of the present invention attitude sensing system which may be used in conjunction with a gyro attitude system of the type shown in FIG. 1 or used alone. DESCRIPTION OF A PREFERRED EMBODIMENT Refer now to FIG. 1 showing a prior art attitude sensing system 10 which comprises a star tracking system 11 and a horizon and sun sensing system 12 which produce RPY angle information, azimuth and elevation angles on line 13 and 14 to processing system 15 which uses this information to produce the RPY attitude on line 16. In order for processing system 15 to produce the RPY information on line 16, it is necessary to employ star catalog information as well as horizon and sun catalog information. This catalog information is calibrated on the ground before the vehicle is launched and remains as a fixed catalog of parameters. FIG. 1 also shows a known type gyro attitude system 20 which comprises a rate integrating gyro system 21 (R.I.G.) which produces the gyro attitude output θg on line 22 which is applied to a summing circuit 23. The output of the summing circuit is an instantaneous attitude error signal on line 24 which is applied to a moving average estimate circuit 25 which takes the instantaneous θe attitude error signals and averages them over a large number of such error input signals. The output of estimating circuit 25 on line 26 is thus a more accurate θe value refined by employing a plurality of instantaneous θe signals. The average value on line 26 is applied to the gyro bias torque motors (not shown) which permit correction of the gyro system 21. Thus, the gyro attitude system 20 is continuously being corrected so as to produce a most recently corrected output signal on line 27 indicative of the latest attitude value θg and θg where the term θg is indicative of the gyro attitude rate which dampens the motion of the gyro system 21. This corrected signal on line 27 is the signal that is used by the vehicle attitude control system 28 for maintaining required attitudes in the vehicle. The value of the actual attitude of the vehicle is supplied on line 29 as a θA signal and this signal may be employed as a feedback signal to the rate integration gyro system 21. For explanation purposes the two attitude sensing systems 11 and 12 have been explained together, however, when extreme accuracy is not required the more expensive star tracking system may be eliminated. Conversely, when extreme accuracy is required the star tracking system is always required and the horizon and sun sensing system as a backup is optional. Refer now to FIG. 2 showing a simplified block diagram of the present invention attitude sensing system of the type which may be employed with the known gyro attitude system 20 shown in FIG. 1 or may be used alone. The attitude sensing system 30 is shown comprising three GPS type antennas, 31 to 33 shown separated from each other by precalibrated known distances D1 and D2. The outputs of the GPS type antennas on lines 34 to 36 are applied to known type GPS receivers 37 to 39. The output of the GPS receivers 37 to 39 are adapted to simultaneously supply the output RF carrier signal from the GPS satellite information. The RF carrier signal on lines 41 to 43 is supplied to a phase comparator which includes means for determining the phase angle between the 3 possible pairs of receivers 37,38 and 38,39 and 39,37. The phase comparator 44 further includes a multiplexer 54 for selecting simultaneously pairs of signals which are applied to accurate phase lock loops 55 to produce analog error signals indicative of the phase between the different pairs of received signals. Phase comparator 44 further includes a sample and hold circuit 56 which converts the analog information to digital format and holds the sample for presentation on line 45 to the microprocessor 46. In the preferred embodiment of the present invention, a dedicated microprocessor 46 is employed in conjunction with a dedicated memory bank reference attitude storage system 47 which is coupled via bus 48 to the micro processor. In large satellite systems which are already designed and being manufactured with on board processors, it is possible to provide a dedicated program for use with the same input information. This would enable the on board processor to make the same computations as those made by the micro processor 46. The display 49 is not required in a fast moving satellite or airborne vehicle. The keyboard 51 is always necessary for airborne vehicles which employ the display 49 and may be used for calibration purposes before launching a satellite vehicle and then disconnected from the micro processor and it's bus 52 before launching the vehicle. The Display 49, keyboard 51 and cable 52 may be considered ground support equipment for satellites launched in orbit. Memory bank 47 contains ground calibration data as well as the latest precalibrated reference information indicative of the position of a reference satellite and its reference attitude. By employing the precalibrated reference information in memory bank 47 it is possible to interpret the phase information on line 45 in micro processor 46 with program means and produce the desired attitude information θ RPY on line 53. The only other information that is necessary to make this accurate attitude calculation is the polar coordinate vector direction to the GPS satellite which is supplying the R.F. carrier information to antennas 31 to 33. This information is being broadcast by the GPS satellite and any one of the three GPS receivers 37 to 39 may be employed to feed this polar coordinate information to the microprocessor 46 via line 52 to enable the micro processor 46 to make the accurate attitude computation of θ RPY which is supplied as a digital signal on line 47 to the sum and difference device 23. Device 23 is also shown in FIG. 1 as having a θg input on line 22 and θe output on line 24. Thus, it will be understood that the present invention may be employed in conjunction with a gyro attitude system 20 of the type shown in FIG. 1 or may be employed in a stand alone system such as a ship or ground vehicle where the signal on line 47 would be applied to a utilization device. Having explained a preferred embodiment of the present invention it will now be understood that over 90% of the satellites which require sensing systems with accuracy greater than that which is available from the presently available horizon and sun sensing systems can be provided by the present invention without having to employ the more expensive star tracking system. For example, a star tracking system is capable of producing attitude information to an accuracy of 2 to 10 arc seconds or 0.0005520 to 0.003 degrees. In contrast thereto the more inexpensive horizon and sun sensing systems are only accurate to about 0.1 degrees. The present invention system has been calculated to be able to produce attitude information to an accuracy of 0.01 degrees by repetitive averaging when an accuracy of this magnitude is required. Having explained a preferred embodiment of the present invention employing three antennas and three receivers it was explained that the novel attitude measuring or sensing system could be used in a stand alone environment. It is possible to employ the present invention in stationary vehicles on the ground or moving vehicles on the ground for accurately determining azimuth directions. Such information can be employed by a surveyors, artillery personnel and for accurately sighting antennas.

Description

Topics

Download Full PDF Version (Non-Commercial Use)

Patent Citations (6)

    Publication numberPublication dateAssigneeTitle
    US-4613864-ASeptember 23, 1986International Standard Electric CorporationPosition-fixing system
    US-4751512-AJune 14, 1988Oceanonics, Inc.Differential navigation system for remote mobile users
    US-4754280-AJune 28, 1988The Charles Stark Draper Laboratory, Inc.Attitude sensing system
    US-4812991-AMarch 14, 1989Magnavox Govt. And Industrial Electronics CompanyMethod for precision dynamic differential positioning
    US-4894655-AJanuary 16, 1990Lmt RadioprofessionnelleLanding assistance system using navigation satellites
    US-4912475-AMarch 27, 1990Massachusetts Institute Of TechnologyTechniques for determining orbital data

NO-Patent Citations (0)

    Title

Cited By (108)

    Publication numberPublication dateAssigneeTitle
    US-5896106-AApril 20, 1999Oerlikon Contraves GmbhMethod for determining the roll attitude of a rolling flying object
    US-6266582-B1July 24, 2001Rockwell Collins. Inc.GPS analytic redundancy for gyroscope failure detection
    US-5406489-AApril 11, 1995Unisys CorporationInstrument for measuring an aircraft's roll, pitch, and heading by matching position changes along two sets of axes
    US-5507452-AApril 16, 1996Loral Corp.Precision guidance system for aircraft launched bombs
    US-5952958-ASeptember 14, 1999Discovision AssociatesPositioning system and method
    US-6671587-B2December 30, 2003Ford Motor CompanyVehicle dynamics measuring apparatus and method using multiple GPS antennas
    US-5418538-AMay 23, 1995Trimble Navigation LimitedRapid satellite signal acquisition in a satellite positioning system
    US-5375059-ADecember 20, 1994Caterpillar Inc.Vehicle position determination system and method
    US-2010289687-A1November 18, 2010Mayflower Communications Company, Inc.Antijam protected GPS-based measurement of roll rate and roll angle of spinning platforms
    US-5555503-ASeptember 10, 1996Caterpillar Inc.System and method for providing accurate vehicle positioning using spatial bias techniques
    US-6324448-B1November 27, 2001Honeywell International, IncMethods, apparatus and computer program products for determining the vertical speed of an aircraft
    US-6018315-AJanuary 25, 2000Motorola, Inc.Method and system for attitude sensing using monopulse GPS processing
    US-5506588-AApril 09, 1996Adroit Systems, Inc.Attitude determining system for use with global positioning system, and laser range finder
    US-5929805-AJuly 27, 1999Tadros; Alfred, Jin; Hai Ping, Mleczko; DavidDifferential phase measurement scheme for a multiplexing GPS attitude receiver
    US-8269667-B2September 18, 2012Mayflower Communications Company, Inc.GPS-based roll rate and roll angle measurement in the absence of jamming
    US-9151633-B2October 06, 2015Steven M. HoffbergMobile communication device for delivering targeted advertisements
    US-5299130-AMarch 29, 1994Toyoichi OnoApparatus for controlling movement of vehicle
    US-9719788-B2August 01, 2017Robert J. WellingtonDetermining spatial orientation information of a body from multiple electromagnetic signals
    US-6223105-B1April 24, 2001Seagull Technology, Inc.System for determining the orientation in space of a moving body relative to the earth
    US-8170797-B2May 01, 2012Denso CorporationMethod and apparatus for estimating behaviors of vehicle using GPS signals
    US-5617317-AApril 01, 1997Honeywell Inc.True north heading estimator utilizing GPS output information and inertial sensor system output information
    US-6487500-B2November 26, 2002Jerome H. Lemelson, Robert D. PedersenGPS vehicle collision avoidance warning and control system and method
    US-2011093198-A1April 21, 2011Denso CorporationMethod and apparatus for estimating behaviors of vehicle using GPS signals
    US-6313788-B1November 06, 2001Seagull Technology, Inc.Method and apparatus for reliable inter-antenna baseline determination
    US-5899945-AMay 04, 1999Space Systems/Loral, Inc.Attitude control and navigation system for high resolution imaging
    WO-9608870-A1March 21, 1996Tadashi Shibata, Tadahiro Ohmi, Tsutomu NakaiDispositif a semi-conducteur
    US-5309162-AMay 03, 1994Nippon Steel Corporation, System Uniques CorporationAutomatic tracking receiving antenna apparatus for broadcast by satellite
    US-2009048779-A1February 19, 2009Honeywell International Inc.Systems and methods for gyrocompass alignment using dynamically calibrated sensor data and an iterated extended kalman filter within a navigation system
    US-8024119-B2September 20, 2011Honeywell International Inc.Systems and methods for gyrocompass alignment using dynamically calibrated sensor data and an iterated extended kalman filter within a navigation system
    US-5917444-AJune 29, 1999Trimble Navigation Ltd.Reduction of time to first fix in an SATPS receiver
    FR-2759163-A1August 07, 1998Sextant AvioniqueDispositif de determination des vitesses angulaires d'un aeronef
    FR-2743892-A1July 25, 1997Sextant AvioniqueSysteme d'aide au pilotage d'aeronefs a l'aide d'un viseur tete haute
    US-6161062-ADecember 12, 2000Sextant AvioniqueAircraft piloting aid system using a head-up display
    EP-1022577-A2July 26, 2000Ford Global Technologies, Inc.On-board GPS sensor systems
    US-6046687-AApril 04, 2000Trimble Navigation LimitedClandsetine location reporting for missing vehicles
    US-7321825-B2January 22, 2008Ford Global Technologies, LlcMethod and apparatus for determining vehicle operating conditions and providing a warning or intervention in response to the conditions
    US-6630872-B1October 07, 2003Cmc Electronics, Inc.Digital indirectly compensated crystal oscillator
    EP-2758802-A4February 25, 2015Univ Curtin TechProcédé d'estimation de quantité associée à un système de récepteurs
    US-6088653-AJuly 11, 2000Sheikh; Suneel I., Vallot; Lawrence C., Schipper; Brian W.Attitude determination method and system
    US-5359521-AOctober 25, 1994Caterpillar Inc.Method and apparatus for determining vehicle position using a satellite based navigation system
    US-5548293-AAugust 20, 1996Leland Stanford Junior UniversitySystem and method for generating attitude determinations using GPS
    EP-0910001-A2April 21, 1999Honeywell Inc.Détermination de l'attitude d'un satellite
    US-6664921-B2December 16, 2003Parthus (Uk) LimitedApparatus for receiving ranging signals
    US-2010117894-A1May 13, 2010Mayfllower Communications Company, Inc.Gps-based measurement of roll rate and roll angle of spinning platforms
    WO-2011149738-A1December 01, 2011Wellington Robert JDétermination des informations d'orientation spatiale d'un corps à partir de multiples signaux électromagnétiques
    US-5434789-AJuly 18, 1995Fraker; William F., Bilsland; GaryGPS golf diagnostic system
    US-6389333-B1May 14, 2002Massachusetts Institute Of TechnologyIntegrated flight information and control system
    US-2005090938-A1April 28, 2005Ford Global Technologies, LlcMethod and apparatus for determining vehicle operating conditions and providing a warning or intervention in response to the conditions
    US-5390125-AFebruary 14, 1995Caterpillar Inc.Vehicle position determination system and method
    CN-101930075-ADecember 29, 2010索尼公司Signal receiver, control method of signal receiver, and GPS device utilizing the signal receiver and method
    US-5566073-AOctober 15, 1996Margolin; JedPilot aid using a synthetic environment
    US-6593879-B1July 15, 2003The United States Of America As Represented By The Administrator Of The National Aeronautics And Space AdministrationUsing the global positioning satellite system to determine attitude rates using doppler effects
    US-7994971-B2August 09, 2011Mayflower Communications Company, Inc.GPS-based measurement of roll rate and roll angle of spinning platforms
    US-5657232-AAugust 12, 1997Aisin Seiki Kabushiki KaishaOnboard positioning system
    US-6501419-B2December 31, 2002The Boeing CompanySensor system and method for determining yaw orientation of a satellite
    US-5461388-AOctober 24, 1995Honeywell Inc.Dual GPS timer apparatus and method
    WO-0102874-A1January 11, 2001Kvh Industries, Inc.Antenna attitude determination by averaging gyros signals against phase signals
    US-6275773-B1August 14, 2001Jerome H. Lemelson, Robert D. PedersenGPS vehicle collision avoidance warning and control system and method
    US-6681180-B2January 20, 2004The Board Of Trustees Of The Leland Stanford Junior UniversityDetermination and control of vehicle sideslip using GPS
    US-8892495-B2November 18, 2014Blanding Hovenweep, LlcAdaptive pattern recognition based controller apparatus and method and human-interface therefore
    US-5525999-AJune 11, 1996Motorola, Inc.Multi-receiver master control station for differential GPS and method
    US-5349531-ASeptember 20, 1994Tokimec Inc.Navigation apparatus using a global positioning system
    US-RE37408-EOctober 16, 2001Trimble Navigation Ltd.Reduction of time to first fix in an SATPS receiver
    US-2011090113-A1April 21, 2011Fenton Patrick CShort and ultra-short baseline phase maps
    RU-2467351-C1November 20, 2012Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Национальный исследовательский университет "МЭИ"Digital receiver of signals from satellite radio-navigation systems
    WO-0225304-A1March 28, 2002Parthus (Uk) LimitedAppareil de réception de signaux de mesure de distance
    US-5959576-ASeptember 28, 1999Honeywell Inc.Satellite attitude determination using GPS and intersatellite line of sight communications
    US-5534875-AJuly 09, 1996Adroit Systems, Inc.Attitude determining system for use with global positioning system
    US-8369967-B2February 05, 2013Hoffberg Steven M, Hoffberg-Borghesani Linda IAlarm system controller and a method for controlling an alarm system
    WO-9903000-A1January 21, 1999Massachusetts Institute Of TechnologyIntegrated flight information and control system
    DE-102007034354-B4August 02, 2012Denso CorporationVerfahren und Vorrichtung zum Schätzen des Verhaltens eines Fahrzeugs unter Verwendung von GPS-Signalen
    EP-0591835-A1April 13, 1994Trimble Navigation LimitedMesure différentielle de phase par multiplexage d'antennes
    US-5268695-ADecember 07, 1993Trimble Navigation LimitedDifferential phase measurement through antenna multiplexing
    WO-2013040628-A1March 28, 2013Curtin University Of TechnologyProcédé d'estimation de quantité associée à un système de récepteurs
    US-7885765-B2February 08, 2011Denso CorporationMethod and apparatus for estimating behaviors of vehicle using GPS signals
    US-5438517-AAugust 01, 1995Caterpillar Inc.Vehicle position determination system and method
    US-5430654-AJuly 04, 1995Caterpillar Inc.Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system
    WO-9608851-A1March 21, 1996Litton Systems, Inc.Method and apparatus for calibrating an antenna array
    US-2011090114-A1April 21, 2011Fenton Patrick CUltra short baseline gnss receiver
    US-5983161-ANovember 09, 1999Lemelson; Jerome H., Pedersen; Robert D.GPS vehicle collision avoidance warning and control system and method
    US-9551582-B2January 24, 2017Blanding Hovenweep, LlcMobile communication device
    US-2003089293-A1May 15, 2003ArgonauticPleasure craft
    CN-101930075-BJanuary 20, 2016索尼公司信号接收器及其控制方法、以及采用其及方法的gps设备
    US-8638257-B2January 28, 2014Novatel, Inc.Ultra short baseline GNSS receiver
    US-8106811-B2January 31, 2012Mayflower Communications Company, Inc.Antijam protected GPS-based measurement of roll rate and roll angle of spinning platforms
    US-6266585-B1July 24, 2001Alenia Spazio S.P.A.Gyrocompassing by intermittent GPS interferometry
    US-9535563-B2January 03, 2017Blanding Hovenweep, LlcInternet appliance system and method
    EP-1022577-A3April 03, 2002Ford Global Technologies, Inc.Système GPS de détection embarquée
    DE-102007034354-B9August 23, 2012Denso CorporationVerfahren und Vorrichtung zum Schätzen des Verhaltens eines Fahrzeugs unter Verwendung von GPS-Signalen
    GB-2440644-AFebruary 06, 2008Denso Corp, Minoru Okada, Mamoru Sawada, Takehito Fujii, Hiromichi TanakaMethod and apparatus for estimating the direction of a vehicle using signals from two GPS antenna.
    WO-9726553-A1July 24, 1997Sextant AvioniqueAircraft piloting aid system using a head-up display
    US-6052647-AApril 18, 2000Stanford UniversityMethod and system for automatic control of vehicles based on carrier phase differential GPS
    EP-2284573-A1February 16, 2011Sony CorporationRécepteur de signal, procédé de contrôle de récepteur de signal et dispositif GPS utilisant le récepteur de signal et procédé
    US-7504995-B2March 17, 2009Novariant, Inc.Method and system for circular polarization correction for independently moving GNSS antennas
    EP-0910001-A3August 23, 2000Honeywell Inc.Satellite attitude determination
    US-2008027645-A1January 31, 2008Minoru Okada, Mamoru Sawada, Takehito Fujii, Hiromichi TanakaMethod and apparatus for estimating behaviors of vehicle using GPS signals
    US-2006033657-A1February 16, 2006Integrinautics, Inc.Method and system for circular polarization correction for independently moving GNSS antennas
    US-6441779-B1August 27, 2002Kvh Industries, Inc.System and method of carrier-phase attitude determination
    EP-2758802-A1July 30, 2014Curtin University Of TechnologyProcédé d'estimation de quantité associée à un système de récepteurs
    US-8633854-B2January 21, 2014Novatel Inc.Short and ultra-short baseline phase maps
    US-2007132636-A1June 14, 2007Motorola, Inc.Multi-receiver satellite positioning system method and system for improved performance
    US-8351470-B2January 08, 2013Sony CorporationSignal receiver, control method of signal receiver, and GPS device utilizing the signal receiver and method
    GB-2440644-BDecember 16, 2009Denso Corp, Minoru Okada, Mamoru Sawada, Takehito Fujii, Hiromichi TanakaMethod and apparatus for estimating behaviors of vehicle usings GPS signals
    DE-102007034354-B8October 18, 2012Denso CorporationVerfahren und Vorrichtung zum Schätzen des Verhaltens eines Fahrzeugs unter Verwendung von GPS-Signalen
    US-6219593-B1April 17, 2001Motorola, Inc.Method and apparatus for attitude determination in a multi-nodal system
    US-8779971-B2July 15, 2014Robert J. WellingtonDetermining spatial orientation information of a body from multiple electromagnetic signals
    US-2010329237-A1December 30, 2010Sony CorporationSignal receiver, control method of signal receiver, and gps device utilizing the signal receiver and method
    WO-0022452-A1April 20, 2000Alenia Spazio S.P.AGyrocompassing by intermittent gps interferometry