Topcon Positioning Systems, Inc.

Sergey Ivanovich Tychinskiy

Alexandr Vladimirovich Doronin

Nikolay Nikolaevich Vasilyuk

Andrey Mikhailovich Sokolov

Nikolai Nikolaevich Vasilyuk

Igor Arkadievich Sandler

Dmitry Konstantinovich Tokarev

Andrey Vladimirovich Veitsel

Alexey Stanislavovich Lebedinsky

Mikhail Yurievich Vorobiev

Konstantin Viktorovich Ebauer

Anton Vladimirovich Klimenkov

Determining vehicle orientation based on GNSS signals received by three antennas that are logically combined into two pairs, with one antenna common for both pairs. GNSS receiver measures first carrier phase difference within each pair of antennas, represented as sum of an integer number of periods of the carrier frequency and a fractional part of the period. The fractional parts are used to compute orientation of the vector connecting the antennas phase centers within each pair, excluding integer ambiguity resolution. Vehicle attitude is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. Each antenna has an RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. All carrier phase measurements of the three antennas are performed on a common time scale.

GNSS-based attitude determination algorithm and triple-antenna GNSS receiver for its implementation

GNSS timing receiver with synchronization of raw GNSS measurements to an external timescale. Synchronization is achieved by using a hardware Time Interval Measurement Unit (TIMU). The TIMU measures time intervals between two pulse signals and makes additional processing of these measurements. The first pulse signal is generated inside the GNSS receiver. The second pulse signal is the external pulse signal generated by an external time reference device. This time interval is used to control the time instant when the output GNSS measurement will be taken. In the first embodiment all actual GNSS measurements are physically taken at time instants indicated by external pulse signal. These measurements are used as output GNSS measurements. In another embodiment all actual GNSS measurements are taken at their default time instants indicated by internal pulse signal. But output GNSS measurements are calculated at the time instants indicated by the external pulse signal.

GNSS receiver with synchronization to external timescale

Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users. The MIMU allows building navigation systems when the same inertial measurements are used within independent computation modules implementing different algorithms of integrating these measurements with navigation data from satellite measurements, measurements of odometer, altimeter, etc.

Multichannel inertial measurement unit and integrated navigation systems on its basis

A method and device for calibration of a three-axis magnetometer that facilitates a more efficient and routine procedure by calibration of hard and soft iron errors of a 3D-magnetometer integrated into a mobile electronic device, and a set of operations for coprocessing measurements of the 3D-magnetometer and inertial sensors (e.g., a 3D-accelerometer and 3D-gyro), which can determine magnetic heading and attitude of the electronic device.

Method and device for calibration of a three-axis magnetometer

An improved GNSS antenna having an integrated antenna element in combination with a plurality of built-in sources of additional data and/or a plurality of devices for receiving additional information for exchanging the information and transmission of GNSS signals from the antenna element to a GNSS receiver over a single RF cable.

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Moscow, Russia

Sergey Ivanovich Tychinskiy