APPARATUS AND METHODS FOR DRIFTLESS ATTITUDE DETERMINATION AND RELIABLE LOCALIZATION OF VEHICLES
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United States of America Patent
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Issued Date -
Apr 12, 2012
app pub date -
Oct 8, 2010
filing date -
Oct 8, 2010
priority date (Note) -
Abandoned
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Abstract
In order to determine positional information, about a mobile robot, Real Time Kinematic (RTK) Global Satellite Navigation System (GNSS) measurement data are obtained by at least two GNSS receivers mounted on the mobile robot. Estimates of the covariance matrices of the measurement data are computed. The RTK GNSS measurement data are combined according to the covariance matrices to obtain enhanced positional information. The results may be fused with data from an IMU to obtain driftless attitude and/or localization information.
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