Vehicle navigation using non-gps leo signals and on-board sensors

A navigation system comprising:

• at least one sensor onboard a vehicle and operable to generate at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics;
• a navigation radio coupled to the sensor to receive generated sensor data, the navigation radio comprising:
• an RF antenna operable to receive RF signals from one or more LEO satellites;
• an RF front end operable to downconvert and digitize the RF signals;
• a digital processor operable to derive one or more range observables from the downconverted RF signals for a corresponding LEO satellite;
• a navigation code stored in media and including instructions executable on the digital processor to obtain a position, velocity and time solution (a “navigation solution”) based on the one or more range observables, ephemerides for the corresponding LEO satellite, navigation radio altitude and heading pseudomeasurements, one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurement, and the generated at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data.

A navigation system comprising:

• a vehicle;
• a navigation radio positionally fixed with regard to the vehicle;
• an RF antenna electrically coupled to the navigation radio and operable to receive RF signals from one or more LEO satellites;
• an RF front end operable to downconvert and digitize the RF signals to produce digital IF signals;
• a digital processor operable to derive one or more range observables from the digital IF signals for a corresponding (LEO) satellite;
• an sensor positionally fixed with regard to the vehicle and coupled to the navigation radio, the sensor operable to generate at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics;
• a navigation code stored in media and including instructions executable on the digital processor to calculate a position, velocity and time solution (“navigation solution”) based on the one or more range observables, ephemerides for the corresponding LEO satellite, a navigation radio altitude pseudomeasurement, one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurement;
• a heading pseudomeasurement, and the generated at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data.