Vehicle positioning and data integrating method and system thereof

A vehicle positioning and data integrating method, comprising the steps of:

• (a) performing GPS processing and receiving GPS measurements, including pseudorange, carrier phase, Doppler shift, and time, from a global positioning system processor, and passing said GPS measurements to a navigation processing board of a central navigation processor;
• (b) receiving inertial measurements, including body angular rates and specific forces from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board via a common bus;
• (c) receiving an altitude measurement from an altitude measurement device, converting said altitude measurement to a vehicle altitude above mean sea level (MSL) in digital data type by an altitude interface and processing board, and passing said vehicle altitude above mean sea level to said navigation processing board and said control board through said common bus;
• (d) performing an INS processing in an INS processor;
• (e) blending an output of said INS processor, said altitude measurement, and said GPS measurements in a kalman filter;
• (g) feeding back an output of said kalman filter to said INS processor to correct said INS navigation solution;
• (h) injecting said velocity and acceleration data from said INS processor into a signal processor of said global positioning system processor to aid code and carrier phase tracking of the global positioning system satellite signals;
• (i) injecting said output of the signal processor of said global positioning system processor, said output of said INS processor, said output of said kalman filter into a carrier phase integer ambiguity resolution module to fix a global positioning system satellite signal carrier phase integer ambiguity number;
• (j) outputting said carrier phase integer number from said carrier phase integer ambiguity resolution module into said kalman filter to further improve the positioning accuracy;
• and
• (k) outputting said navigation data including vehicle velocity, position, altitude, heading and time from said INS processor to said control board through said common bus.

A vehicle positioning and data integrating method, comprising the steps of:

• (a) performing GPS processing and receiving GPS measurements, including pseudorange, Doppler shift, and time, from a global positioning system processor and passing said GPS measurements to a navigation processing board of a central navigation processor;
• (b) receiving inertial measurements, including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board via a common bus;
• (c) receiving an altitude measurement from an altitude measurement device, converting said altitude measurement to a vehicle altitude above mean sea level (MSL) in digital data type by an altitude interface and processing board, and passing said digital data of vehicle altitude above mean sea level to said navigation processing board and said control board through said common bus;
• (d) performing INS processing in an INS processor;
• (e) blending an output of said INS processor, said altitude measurement, and said GPS measurements in a kalman filter;
• (f) feeding back an output of said kalman filter to said INS processor to correct said INS navigation solution;
• (g) injecting said velocity and acceleration data from said INS processor into a signal processor of said global positioning system processor to aid code and carrier phase tracking of the global positioning system satellite signals;
• and
• (h) outputting said navigation data including vehicle velocity, position, altitude, heading and time from said INS processor to said control board through said common bus.

A vehicle positioning and data integrating method, comprising the steps of:

• (a) performing GPS processing and receiving GPS measurements, including position, velocity and time, from a global positioning system processor and passing said GPS measurements to a navigation processing board of a central navigation processor;
• (b) receiving inertial measurements, including body angular rates and specific forces, from an inertial measurement unit, converting said inertial measurements into digital data of body acceleration and rotation by an IMU interface and preprocessing board, and sending said digital data of body acceleration and rotation to said navigation processing board and a control board via a common bus;
• (c) receiving an altitude measurement from an altitude measurement device, converting said altitude measurement to digital data of vehicle altitude above mean sea level (MSL) by an altitude interface and processing board, and passing said digital data of vehicle altitude above mean sea level to said navigation processing board and said control board through said common bus;
• (d) performing INS processing in an INS processor;
• (e) blending an output of said INS processor, said altitude measurement, and said GPS measurements in a kalman filter;
• (f) feeding back an output of said kalman filter to said INS processor to correct said INS navigation solution;
• and
• (g) outputting said navigation data, including vehicle velocity, position, altitude, heading and time, from said INS processor to said control board through said common bus.