The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 28, 2011
Filed:
Feb. 25, 2005
Sergio DE LA Parra Carqué, Torrejón De Ardoz, ES;
Sergio De La Parra Carqué, Torrejón De Ardoz, ES;
Instituto Nacional De Tecnica Aeroespacial “Esteban Terradas”, Torrejón De Ardoz, ES;
Abstract
This invention relates to a system for estimating the position, velocity and orientation of a vehicle, by determining the components of two noncollinear constant unit vectors,according to vehicle body axes; and determining the components of the noncollinear constant unit vectors {right arrow over (g)},{right arrow over (e)}according to Earth's axes. The system further determines the three components of angular velocityof the vehicle in body axes; corrects the angular velocitywith a correction uand obtains a corrected angular velocity {circumflex over (ω)}=+u; a control module implementing a control law to calculate the correction u, where the control law is:=σ(+)  [1]where σ is a positive scalar, such that upon using the corrected angular velocity {circumflex over (ω)}=+uas input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (φ)} is bounded.