Heading Estimation Using Single GNSS Antenna and Motion Vectors
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Solution Overview
Problem
Current navigation techniques are inefficient and cumbersome, particularly in determining the heading of a rigid body, as they often require complex setups, expensive sensors, and significant maneuvering, limiting productivity and accuracy in field procedures such as surveying.
Innovation Solution
A method that uses a navigation satellite system (NSS) receiver and sensor equipment like gyroscopes and accelerometers to estimate the heading of a rigid body by subjecting it to controlled motion while keeping a reference point fixed, allowing for the computation of velocity vectors and delta-position vectors to generate information usable for heading estimation without the need for additional motion or expensive equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional heading estimation methods (gyrocompassing, dynamic alignment, GNSS attitude determination) are used, then heading accuracy can be achieved, but device complexity and cost increase significantly
Solution Approach 1:
The patent extracts and eliminates the need for complex sensor systems (multiple GNSS antennas, high-quality inertial sensors) by using a simplified approach that combines a single GNSS receiver with basic motion detection to estimate heading through velocity vector analysis during controlled motion
Solution Approach 2:
The patent replaces expensive, complex heading estimation systems with inexpensive components (single GNSS receiver, basic motion sensors) that achieve adequate heading accuracy through software-based velocity vector computation rather than hardware-based complex sensing
2Measurement precision
If gyrocompassing alignment technique is used, then heading accuracy is improved, but measurement time increases due to long averaging requirements
Solution Approach 1:
The patent performs preliminary motion preparation by moving the rigid body along a known trajectory before heading estimation, allowing velocity vectors to be computed from pre-collected GNSS position data and motion characteristics, thus eliminating the need for long post-measurement averaging periods
Solution Approach 2:
The patent skips the traditional long averaging process by using velocity vector computation during controlled motion to directly obtain heading information, significantly reducing the time required for accurate heading estimation
3Measurement precision
If dynamic alignment technique is used, then heading estimation is achieved, but significant maneuvering is required which reduces operational efficiency
Solution Approach 1:
The patent uses controlled dynamic motion of the rigid body along a known trajectory to enable velocity vector computation, where the motion is sufficiently constrained and predictable to allow accurate heading estimation without requiring complex or excessive maneuvering
Solution Approach 2:
The patent changes the approach from using complex sensor data processing to using GNSS velocity vectors and motion parameters to estimate heading, achieving adequate accuracy with simpler measurements and less demanding operational procedures
4Measurement precision
If multiple GNSS antennas are used for GNSS attitude determination, then heading accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts and eliminates the requirement for multiple GNSS antennas by using a single antenna combined with velocity vector computation from GNSS position data and known motion characteristics to estimate heading
Solution Approach 2:
The patent introduces velocity vectors as an intermediary computational element that links single-antenna GNSS measurements to heading estimation, allowing accurate heading determination without the need for multiple physical antennas
Data Source
AI summary
Methods, apparatuses and computer programs are disclosed for estimating, or at least for generating information usable to estimate, the heading of at least one axis of interest of a rigid body. Rigid body is equipped with an antenna of a navigation satellite system (NSS) receiver, and with sensor equipment comprising sensors such as a gyroscope, an angle sensor, and accelerometers, depending on the form of the invention. Rigid body is subject to a known motion comprising causing a point's horizontal position to change, the point being referred to as “point B”, while keeping another point's position, the point being referred to as “point A”, fixed relative to the Earth. Considering the motion constraint, an estimation of the heading is generated using sensor equipment data and NSS receiver data. The estimation of the heading may for example be used to estimate the position of any point of rigid body.