POSITIONING APPARATUS AND GLOBAL NAVIGATION SATELLITE SYSTEM, METHOD OF DETECTING SATELLITE SIGNALS

摘要

A positioning apparatus of a vehicle includes a measuring module and a triaxial orientation sensor to provide measured axial accelerations in a Cartesian reference system during a certain time interval. The apparatus also includes a triaxial movement sensor to supply at least one angular variation signal proportional to the axial angular speed of the vehicle during the time interval. A processing unit receives a distance signal proportional to the distance traveled by the vehicle in the time interval, receives the at least one angular variation signal, and supplies at least one reference acceleration of the vehicle. An estimator-calibrator block recursively estimates at least one calibrated acceleration as a function of the measured axial accelerations and of the at least one reference acceleration. The estimator-calibrator block includes a calculation unit to calculate an altitude variation as function of the distance signal and recursively calculates an estimated pitch angle as a function of at least one calibrated acceleration.

主权项

1. A vehicle positioning apparatus, comprising:
a measuring module associable to a vehicle, the measuring module having a triaxial orientation sensor and a triaxial movement sensor, the triaxial orientation sensor configured to provide measured axial accelerations in a Cartesian reference system during a time interval between a previous time and a current time, the triaxial movement sensor configured to supply a first angular variation signal proportional to an axial angular speed of the vehicle during said time interval; a processing unit configured to:
receive a distance signal proportional to a distance traveled by said vehicle in said time interval;receive said first angular variation signal; andsupply at least one reference acceleration of said vehicle; an estimator-calibrator block configured to recursively estimate at least one calibrated acceleration as a function of said measured axial acceleration and of said at least one reference acceleration, wherein said estimator-calibrator block includes a calculation unit configured to calculate an altitude variation as a function of said distance signal and an estimated pitch angle, the estimated pitch angle recursively calculated as a function of at least one calibrated acceleration, wherein said altitude variation is arranged to correct a current position of the vehicle, said current position determined based on a plurality of satellite signals from at least two satellites of a navigation satellite system.