# US 9,429,660 B2 · Single antenna GPS measurement of roll rate and roll angle of spinning platform

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- Number: US 9,429,660 B2
- Document ID: US9429660B2
- Status: Granted
- Kind: B2
- Application number: 13/374,551
- Filed: 2012-01-03
- Published: 2013-07-04
- Granted: 2016-08-30
- Earliest claimed: 2012-01-03
- Assignees: Mayflower Communications Company, Inc.
- Applicants: Jianhui Luo; Wallace E. Vander Velde; Huan-Wan Tseng; Triveni N. Upadhyay
- Inventors: Jianhui Luo; Wallace E. Vander Velde; Huan-Wan Tseng; Triveni N. Upadhyay
- Web page: https://patentgrep.com/patent/US9429660B2

## CPC

- G01S 19/54: using carrier phase measurements; using long or short baseline interferometry
- G01S 19/53: Determining attitude
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

System and method for determining the roll rate and roll angle of a spinning platform. The IQ amplitude and/or phase characteristics of GPS signals received at a single receiver antenna are measured using the signals output directly by a correlator that is driven at the satellite tracking frequency used for forming the navigation solution. The roll rate and roll angle are determined in real time by a Roll filter, which is preferably an Extended Kalman Filter (EKF) employing probabilistic data association, whose inputs include the measured IQ characteristics and the navigation solution. Data from non-GPS measurement sources is optionally provided to update the navigation and/or roll solution.

## Claims

### Claim 1

A system for determining roll of a spinning platform comprising:
only one antenna for receiving GPS signals, said antenna outputting antenna signals;
a receiver processor having correlators correlating the antenna signals from each of at least four satellites and outputting correlated signals, and said receiver processor outputting platform position and velocity data;
a roll processor configured to:
correlate the antenna signals from at least one satellite in a correlator driven synchronously at the tracking loop frequency of the corresponding satellite correlator of the receiver processor and outputting correlated antenna signals;
measure IQ characteristics of the roll processor correlated antenna signals without intermediate processing;
accept the platform position and velocity data; and
determine roll information from said measured IQ characteristics and said platform position and velocity data in a roll filter, said roll filter outputting said roll information.

### Claim 2 (depends on 1)

The system of claim 1, wherein the antenna is mounted on a platform.

### Claim 3 (depends on 1)

The system of claim 1, wherein the roll filter is a Kalman filter.

### Claim 4 (depends on 1)

The system of claim 1, wherein the roll filter is an Extended Kalman Filter.

### Claim 5 (depends on 1)

The system of claim 1, wherein the roll filter has roll rate and roll angle as filter state variables.

### Claim 6 (depends on 1)

The system of claim 1, wherein roll information includes roll rate.

### Claim 7 (depends on 1)

The system of claim 1, wherein roll information includes roll angle.

### Claim 8 (depends on 1)

The system of claim 1, wherein the IQ characteristics include amplitude.

### Claim 9 (depends on 1)

The system of claim 1, wherein the IQ characteristics include phase.

### Claim 10 (depends on 1)

The system of claim 1, wherein the IQ characteristics include amplitude and phase.

### Claim 11 (depends on 1)

The system of claim 1, wherein the roll filter includes probabilistic data association.

### Claim 12 (depends on 11)

The system of claim 11, wherein the probabilistic data association assigns weights to the roll estimates derived from each tracked satellite.

### Claim 13 (depends on 12)

The system of claim 12, wherein the assignment of weights is based on the posterior error probability distribution.

### Claim 14 (depends on 1)

The system of claim 1, wherein the roll filter includes platform roll dynamics.

### Claim 15 (depends on 1)

The system of claim 1, wherein the position and velocity data are optionally provided from a non-GPS measurement source.

### Claim 16

A system for determining roll of a spinning platform comprising:
only one antenna for receiving GPS signals, said antenna outputting antenna signals;
a receiver processor having correlators correlating the antenna signals from each of at least four satellites and outputting correlated signals, and said receiver processor outputting platform position and velocity data; and
a roll processor configured to:
correlate the antenna signals from at least one satellite in a roll processor correlator driven synchronously at the tracking loop frequency of the corresponding satellite correlator of the receiver processor and outputting correlated antenna signals;
measure IQ characteristics of the roll processor correlated antenna signals without intermediate processing;
accept the platform position and velocity data; and
determine roll information from said measured IQ characteristics and said platform position and velocity in a roll filter, said roll filter including platform roll dynamics and outputting said roll information.

### Claim 17 (depends on 16)

The system of claim 16, wherein the antenna is mounted on the platform.

### Claim 18 (depends on 16)

The system of claim 16, wherein the receiver processor outputting position and velocity data is a GPS receiver processor.

### Claim 19 (depends on 16)

The system of claim 16, wherein the roll filter is a Kalman filter.

### Claim 20 (depends on 16)

The system of claim 16, wherein the roll filter is an Extended Kalman Filter.

### Claim 21 (depends on 16)

The system of claim 16, wherein the roll filter has roll rate and roll angle as filter state variables.

### Claim 22 (depends on 16)

The system of claim 16, wherein roll information includes roll rate.

### Claim 23 (depends on 16)

The system of claim 16, wherein roll information includes roll angle.

### Claim 24 (depends on 16)

The system of claim 16, wherein the IQ characteristics include amplitude.

### Claim 25 (depends on 16)

The system of claim 16, wherein the IQ characteristics include phase.

### Claim 26 (depends on 16)

The system of claim 16, wherein the IQ characteristics include amplitude and phase.

### Claim 27 (depends on 16)

The system of claim 16, wherein the roll filter further includes probabilistic data association.

### Claim 28 (depends on 27)

The system of claim 27, wherein the probabilistic data association assigns weights to the roll estimates derived from each satellite.

### Claim 29 (depends on 28)

The system of claim 28, wherein the assignment of weights is based on the posterior error probability distribution.

### Claim 30 (depends on 16)

The system of claim 16, wherein the system is a GPS receiver.

### Claim 31 (depends on 16)

The system of claim 16, wherein the platform position and velocity data are provided using at least one non-GPS measurement source.

### Claim 32 (depends on 31)

The system of claim 31, wherein the non-GPS measurement source is an inertial measurement system.

### Claim 33 (depends on 16)

The system of claim 16, wherein determining roll information in the roll filter further includes using non-GPS measurement data.

### Claim 34

A method for determining roll of a spinning platform comprising the steps of:
receiving GPS signals at a single antenna outputting antenna signals;
correlating the antenna signals received from at least four satellites in a receiver processor correlator outputting correlated antenna signals;
determining platform position and velocity with the receiver processor correlated antenna signals;
correlating the antenna signals received from at least one satellite in a roll processor correlator outputting correlated antenna signals, said roll processor correlator driven synchronously at the tracking loop frequency of the corresponding receiver processor satellite correlator;
measuring IQ characteristics of the correlated antenna signals output from said roll processor correlator without intermediate processing; and
determining roll information from said measured IQ characteristics and said platform position and velocity in a roll filter, said roll filter outputting said roll information.

### Claim 35 (depends on 34)

The method of claim 34, wherein the antenna is mounted on the platform.

### Claim 36 (depends on 34)

The method of claim 34, wherein the roll filter includes platform roll dynamics.

### Claim 37 (depends on 34)

The method of claim 34, wherein the roll filter is a Kalman filter.

### Claim 38 (depends on 34)

The method of claim 34, wherein the roll filter is an Extended Kalman Filter.

### Claim 39 (depends on 34)

The method of claim 34, wherein the roll filter has roll rate and roll angle as filter state variables.

### Claim 40 (depends on 34)

The method of claim 34, wherein roll information includes roll rate.

### Claim 41 (depends on 34)

The method of claim 34, wherein roll information includes roll angle.

### Claim 42 (depends on 34)

The method of claim 34, wherein the IQ characteristics include amplitude.

### Claim 43 (depends on 34)

The method of claim 34, wherein the IQ characteristics include phase.

### Claim 44 (depends on 34)

The method of claim 34, wherein the IQ characteristics include amplitude and phase.

### Claim 45 (depends on 34)

The method of claim 34, wherein the roll filter includes probabilistic data association.

### Claim 46 (depends on 45)

The method of claim 45 wherein the probabilistic data association assigns weights to the roll estimates derived from each satellite.

### Claim 47 (depends on 46)

The method of claim 46, wherein the assignment of weights is based on the posterior error probability distribution.

### Claim 48 (depends on 34)

The method of claim 34, wherein determining said platform position and velocity includes updating said platform position and velocity using at least one non-GPS measurement source.

### Claim 49

A method for determining roll of a spinning platform comprising the steps of:
receiving GPS signals at a single antenna outputting antenna signals;
correlating the antenna signals received from at least four satellites in a receiver processor correlator outputting correlated antenna signals;
determining platform position and velocity with the receiver processor correlated antenna signals;
correlating the antenna signals received from at least one satellite in a roll processor correlator outputting correlated antenna signals, said roll processor correlator driven synchronously at the tracking loop frequency of the corresponding receiver processor satellite correlator;
measuring IQ characteristics of the correlated antenna signals output from said roll processor correlator without intermediate processing; and
determining roll information from said measured IQ characteristics and said platform position and velocity in a roll filter, said roll filter including platform roll dynamics and outputting said roll information.

### Claim 50 (depends on 49)

The method of claim 49, wherein the antenna is mounted on the platform.

### Claim 51 (depends on 49)

The method of claim 49, wherein the roll filter is a Kalman filter.

### Claim 52 (depends on 49)

The method of claim 49, wherein the roll filter is an Extended Kalman Filter.

### Claim 53 (depends on 49)

The method of claim 49, wherein the roll filter has roll rate and roll angle as filter state variables.

### Claim 54 (depends on 49)

The method of claim 49, wherein roll information includes roll rate.

### Claim 55 (depends on 49)

The method of claim 49, wherein roll information includes roll angle.

### Claim 56 (depends on 49)

The method of claim 49, wherein the IQ characteristics include amplitude.

### Claim 57 (depends on 49)

The method of claim 49, wherein the IQ characteristics include phase.

### Claim 58 (depends on 49)

The method of claim 49, wherein the IQ characteristics include amplitude and phase.

### Claim 59 (depends on 49)

The method of claim 49, wherein the roll filter further includes probabilistic data association.

### Claim 60 (depends on 59)

The method of claim 59, wherein the probabilistic data association assigns weights to the roll estimates derived from each satellite.

### Claim 61 (depends on 60)

The method of claim 60, wherein the assignment of weights is based on the posterior error probability distribution.

### Claim 62 (depends on 49)

The method of claim 49 wherein determining said platform position and velocity includes updating said platform position and velocity using at least one non-GPS measurement source.

### Claim 63 (depends on 62)

The method of claim 62 wherein the non-GPS measurement source is an inertial measurement system.

### Claim 64 (depends on 62)

The method of claim 62, wherein the non-GPS measurement source is a magnetometer.

### Claim 65 (depends on 49)

The method of claim 49, wherein determining roll information in the roll filter further includes using non-GPS measurement data.