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1. 发明授权

US07570204B1 Generalized divergence-free carrier smoothing and dual frequency differential GPS architecture implementing the same 有权
标题翻译：广义无差分载波平滑和双频差分GPS架构实现相同
公开(公告)号：US07570204B1
公开(公告)日：2009-08-04
申请号：US11513454
申请日：2006-08-31
申请人： Gary A. McGraw
发明人： Gary A. McGraw
IPC分类号： G01S5/14
CPC分类号： G01S19/32 , G01S19/44
摘要： A method of generating differentially-corrected smoothed pseudorange data in a differential global positioning system (DGPS) includes generating, at a base station, non-mode specific pseudorange and carrier phase correction data. The non-mode specific pseudorange and carrier phase correction data is then provided to a remote receiver. At the remote receiver, one of a plurality of specific smoothing modes of operation is selected for use in generating differentially-corrected smoothed pseudorange and carrier phase data. The differentially-corrected smoothed pseudorange and carrier phase data is then generated by the remote receiver using the selected one of the plurality of specific smoothing modes of operation, and as a function of the non-mode specific pseudorange and carrier phase correction data received from the base station.
摘要翻译：在差分全球定位系统（DGPS）中产生差分校正的平滑伪距数据的方法包括在基站处生成非模式特定伪距和载波相位校正数据。然后将非模式特定伪距和载波相位校正数据提供给远程接收机。在远程接收机处，选择多个特定平滑操作模式之一用于生成差分校正的平滑伪距和载波相位数据。差分校正的平滑伪距和载波相位数据然后由远程接收机使用所选择的多个特定平滑操作模式中的一个产生，并且作为根据从该接收机接收的非模式特定伪距和载波相位校正数据的函数基站。

2. 发明授权

US06198430B1 Enhanced differential GNSS carrier-smoothed code processing using dual frequency measurements 有权
标题翻译：使用双频测量的增强的差分GNSS载波平滑码处理
公开(公告)号：US06198430B1
公开(公告)日：2001-03-06
申请号：US09277341
申请日：1999-03-26
申请人： Patrick A. Hwang , Gary A. McGraw , John R. Bader
发明人： Patrick A. Hwang , Gary A. McGraw , John R. Bader
IPC分类号： H04B7185
CPC分类号： G01S5/009 , G01S19/32 , G01S19/43
摘要： A method of generating a differentially corrected pseudorange residual in a differential global positioning system includes tracking at a base station first and second GPS signals, having first and second frequencies, from a first satellite. At the base station, a first pseudorange measurement is determined from the tracked first GPS signal. At the base station, a first smoothed pseudorange measurement is calculated from the determined first pseudorange measurement as a function of both the first and second GPS signals. The first smoothed pseudorange measurement is provided to a remote GPS receiver. The remote GPS receiver calculates the differentially corrected pseudorange residual as a function of the first smoothed pseudorange measurement provided by the base station.
摘要翻译：一种在差分全球定位系统中产生差分校正的伪距残差的方法包括在基站处跟踪来自第一卫星的具有第一和第二频率的第一和第二GPS信号。在基站，根据跟踪的第一GPS信号确定第一伪距测量。在基站处，根据所确定的第一伪距测量值作为第一和第二GPS信号两者的函数来计算第一平滑伪距测量。第一个平滑的伪距测量被提供给远程GPS接收器。远程GPS接收机根据基站提供的第一平滑伪距测量来计算差分校正伪距残差。

3. 发明授权

US07418343B1 Relative navigation for precision rendezvous and station keeping using datalink signals 有权
标题翻译：使用数据链路信号进行精密会合和站保持的相对导航
公开(公告)号：US07418343B1
公开(公告)日：2008-08-26
申请号：US10848708
申请日：2004-05-19
申请人： Gary A. McGraw , Robert J. Frank , Kenneth M. Peterson , Richard S. Haendel , Scott J. F. Zogg
发明人： Gary A. McGraw , Robert J. Frank , Kenneth M. Peterson , Richard S. Haendel , Scott J. F. Zogg
IPC分类号： G01S1/08
CPC分类号： G01S13/765 , G01S3/36 , G01S13/88 , G01S19/51
摘要： A follower aircraft is guided to a lead aircraft using a datalink that determines range between the two. The lead aircraft has an antenna array and processing system for determining azimuth/elevation of the follower aircraft. The lead aircraft transmits a ranging message to the follower aircraft and stores a lead aircraft time of transmit (TOT) time. The ranging message is received at the follower aircraft and a follower aircraft time of reception (TOR) time is stored. A second ranging message is transmitted from the follower aircraft to the lead aircraft and a follower aircraft TOT time is stored. The second ranging message is received at the lead aircraft and a lead aircraft TOR is stored. A message is sent from the follower aircraft when follower aircraft TOT and TOR. The range and time offset is determined by the lead aircraft using follower aircraft TOT/TOR and stored lead aircraft TOT/TOR.
摘要翻译：随动飞机使用确定两者之间范围的数据链来引导到主飞机。引导飞机具有用于确定从动飞机的方位/仰角的天线阵列和处理系统。主飞机向跟随飞机发送测距信息，并存储飞行时间（TOT）时间。在跟随飞行器处接收测距消息，并存储跟随飞行器接收时间（TOR）时间。第二范围消息从跟随飞行器发送到主飞机，并且存储随动飞机TOT时间。在首飞机上接收到第二个测距信息，并且存储了引导飞机TOR。随动飞机TOT和TOR发出信号。范围和时间偏移由引擎飞机使用跟随飞机TOT / TOR和存储的引导飞机TOT / TOR确定。

4. 发明授权

US06819983B1 Synthetic pressure altitude determining system and method with wind correction 有权
标题翻译：合成压力高度确定系统和风力校正方法
公开(公告)号：US06819983B1
公开(公告)日：2004-11-16
申请号：US10308422
申请日：2002-12-03
申请人： Gary A. McGraw
发明人： Gary A. McGraw
IPC分类号： G06F1700
CPC分类号： G01C5/005
摘要： A method of generating a synthetic pressure altitude is disclosed. The method includes providing a static air temperature to a data processing device. The method also includes providing a wind velocity, a ground velocity, and a geometric altitude to the data processing device. Further, the method includes performing a numerical integration based on the static air temperature, the wind velocity, the ground velocity, and the geometric altitude. The wind velocity and the ground velocity are used to estimate pressure gradients not included in a static air column model.
摘要翻译：公开了一种产生合成压力高度的方法。该方法包括向数据处理装置提供静态空气温度。该方法还包括向数据处理装置提供风速，地面速度和几何高度。此外，该方法包括基于静态空气温度，风速，地面速度和几何高度来执行数值积分。风速和地面速度用于估计静态空气柱模型中不包括的压力梯度。

5. 发明授权

US07679554B1 Communications link time transfer to improve navigation system accuracy 有权
标题翻译：通信链路时间传输，提高导航系统的准确性
公开(公告)号：US07679554B1
公开(公告)日：2010-03-16
申请号：US12167897
申请日：2008-07-03
申请人： Patrick Y Hwang , Bernard A. Schnaufer , David A. Anderson , Gary A. McGraw
发明人： Patrick Y Hwang , Bernard A. Schnaufer , David A. Anderson , Gary A. McGraw
IPC分类号： G01S5/14 , G01S1/00
CPC分类号： G01S19/15 , G01S19/235 , G01S19/41
摘要： A method and apparatus for improving differential navigation accuracy uses time transfer over a two-way communications link. The communications link transmits an overall time offset between a differential reference station and a remote user. A differential navigation position solution is modified at the remote user with the overall time offset to improve the differential navigation accuracy. A first time offset between a first communications device and a first navigation receiver at the remote user is determined. A second time offset between the first communications device at the remote user and a second communications device at the differential reference station is determined. A third time offset between the second communications device and a second navigation receiver at the differential reference station is determined. An overall time offset from the first time offset, the second time offset, and the third time offset is computed and used to improve the differential navigation accuracy.
摘要翻译：用于改善差分导航精度的方法和装置使用双向通信链路上的时间传递。通信链路传输差分参考站和远程用户之间的整体时间偏移。差分导航位置解决方案在远程用户处被修改，具有总时间偏移量，以提高差分导航精度。确定远程用户的第一通信设备和第一导航接收器之间的第一时间偏移。确定远程用户的第一通信设备与差分参考站处的第二通信设备之间的第二时间偏移。确定第二通信设备和差分参考站处的第二导航接收机之间的第三次偏移。计算出与第一时间偏移，第二时间偏移和第三时间偏移的总体时间偏移，并用于提高差分导航精度。

6. 发明授权

US08880001B1 Collaborative positioning, navigation and timing 有权
标题翻译：协调定位，导航和定时
公开(公告)号：US08880001B1
公开(公告)日：2014-11-04
申请号：US13086535
申请日：2011-04-14
申请人： Patrick Y. Hwang , Gary A. McGraw
发明人： Patrick Y. Hwang , Gary A. McGraw
IPC分类号： H04B17/00 , H04M11/04 , H04W4/00
CPC分类号： G01S19/43 , G01S7/40 , G01S13/003 , G01S13/90 , G01S19/14 , H04W4/029
摘要： A method for providing collaborative PNT for a plurality of nodes in a distributed sensing system is disclosed. The method may include receiving carrier phase and pseudorange measurements from a first node and a second node of the plurality of nodes; providing a process model for each node, where the process model for each node is configured for modeling error characteristics associated with that node; determining an error covariance between the first node and the second node; and estimating a PNT solution for the first node and a PNT solution for the second node based on: the carrier phase and pseudorange measurements received from the first node, the carrier phase and pseudorange measurements received from the second node, the process model for the first node, the process model for the second node, and the error covariance between the first node and the second node.
摘要翻译：公开了一种在分布式感测系统中为多个节点提供协同PNT的方法。该方法可以包括从多个节点中的第一节点和第二节点接收载波相位和伪距测量值; 为每个节点提供过程模型，其中每个节点的过程模型被配置用于与该节点相关联的建模误差特征; 确定所述第一节点和所述第二节点之间的误差协方差; 以及基于：从第一节点接收的载波相位和伪距测量，从第二节点接收到的载波相位和伪距测量，估计第一节点的PNT解和用于第二节点的PNT解，第一节点的处理模型节点，第二节点的过程模型以及第一节点和第二节点之间的误差协方差。

7. 发明授权

US08193981B1 Coordinated sensing and precision geolocation of target emitter 有权
标题翻译：目标发射器的协调感测和精确地理定位
公开(公告)号：US08193981B1
公开(公告)日：2012-06-05
申请号：US12284937
申请日：2008-09-26
申请人： Patrick Y. Hwang , Gary A. McGraw , Robert J. Frank
发明人： Patrick Y. Hwang , Gary A. McGraw , Robert J. Frank
IPC分类号： G01S19/24
CPC分类号： G01S5/06 , G01S19/43 , G01S19/51
摘要： The present invention is a geolocation system for providing coordinated sensing and precision geolocation of a target emitter. The system may include a Quint Networking Technology (QNT) subsystem which may be configured receiving, detecting and identifying a target emitter signal. The QNT subsystem may be further configured for extracting a carrier phase of the signal. The system may further include a Real Time Kinematic Global Positioning System (RTK GPS) subsystem for determining a position of the geolocation system relative to a position of a second geolocation system. Further, the system may be configured for communicating with the second geolocation system via a QNT communication data link for: determining a QNT time difference via signal carrier phase differencing for calculating a time difference between the geolocation systems and geolocating the target emitter based on both the relative position information of the geolocation systems and the calculated time difference between the geolocation systems.
摘要翻译：本发明是用于提供目标发射器的协调感测和精确地理定位的地理定位系统。该系统可以包括可配置为接收，检测和识别目标发射器信号的Quint网络技术（QNT）子系统。 QNT子系统可以被进一步配置用于提取信号的载波相位。系统还可以包括用于确定地理位置系统相对于第二地理定位系统的位置的位置的实时运动全球定位系统（RTK GPS）子系统。此外，该系统可以被配置为经由QNT通信数据链路与第二地理定位系统进行通信，用于：经由信号载波相位差来确定QNT时间差，用于基于两者来计算地理位置系统和地理定位目标发射器之间的时间差地理定位系统的相对位置信息以及地理位置系统之间的计算时间差。

8. 发明授权

US08010287B1 Frequency hopping data link approach to autonomous GPS denied relative navigation determination 有权
标题翻译：跳频数据链路方式自主GPS拒绝相对导航确定
公开(公告)号：US08010287B1
公开(公告)日：2011-08-30
申请号：US11891922
申请日：2007-08-14
申请人： Robert J. Frank , Scott J. Zogg , Gary A. McGraw , Dana J. Jensen , Bernard A. Schnaufer
发明人： Robert J. Frank , Scott J. Zogg , Gary A. McGraw , Dana J. Jensen , Bernard A. Schnaufer
IPC分类号： G01S1/24 , B64D39/00 , G06F19/00
CPC分类号： G01S5/0284 , B64D39/00 , G01S5/12 , G01S19/18 , G01S19/47 , G01S19/51
摘要： The present invention is directed to accurate GPS (global positioning system)-free relative navigation between an unmanned aerial vehicle (UAV) and a tanker aircraft. The UAV transmits a signal which is received by an antenna array at the tanker aircraft. Horizontal relative position of the UAV is determined by calculating range and bearing based on time and phase differences in the received signal. Vertical relative position of the UAV is determined by comparing the altitude of the UAV with the altitude of the tanker aircraft. The tanker aircraft then transmits a navigation solution based on the relative position of the UAV which is received by the UAV. The UAV may utilize the navigation solution transmitted by the tanker aircraft as a backup to a GPS determined navigation solution, in a GPS denied scenario, or in combination with an INS (inertial navigation system) determined navigation solution.
摘要翻译：本发明涉及无人驾驶飞行器（UAV）和油罐飞机之间的精确GPS（全球定位系统）的相对导航。无人机在油轮飞机上发射由天线阵列接收的信号。通过基于接收信号中的时间和相位差计算范围和方位来确定UAV的水平相对位置。无人机的垂直相对位置通过将无人机的高度与油轮飞机的高度进行比较来确定。然后，油罐飞机基于由UAV接收的UAV的相对位置发送导航解决方案。无人机可以利用由油轮飞机发送的导航解决方案作为GPS确定的导航解决方案的备份，在GPS拒绝场景中，或与INS（惯性导航系统）确定的导航解决方案组合。

9. 发明授权

US07405694B1 Communication link time transfer to improve navigation system accuracy 有权
标题翻译：通信链路时间传输，提高导航系统的准确性
公开(公告)号：US07405694B1
公开(公告)日：2008-07-29
申请号：US11368782
申请日：2006-03-06
申请人： Patrick Y. Hwang , Bernard A. Schnaufer , David A. Anderson , Gary A. McGraw
发明人： Patrick Y. Hwang , Bernard A. Schnaufer , David A. Anderson , Gary A. McGraw
IPC分类号： G01S1/00 , H04B7/185 , H04Q7/20
CPC分类号： G01S19/15 , G01S19/235 , G01S19/41
摘要： A method and apparatus for improving differential navigation accuracy uses time transfer over a two-way communications link. The communications link transmits an overall time offset between a differential reference station and a remote user. A differential navigation position solution is modified at the remote user with the overall time offset to improve the differential navigation accuracy. A first time offset between a first communications device and a first navigation receiver at the remote user is determined. A second time offset between the first communications device at the remote user and a second communications device at the differential reference station is determined. A third time offset between the second communications device and a second navigation receiver at the differential reference station is determined. An overall time offset from the first time offset, the second time offset, and the third time offset is computed and used to improve the differential navigation accuracy.
摘要翻译：用于改善差分导航精度的方法和装置使用双向通信链路上的时间传递。通信链路传输差分参考站和远程用户之间的整体时间偏移。差分导航位置解决方案在远程用户处被修改，具有总时间偏移量，以提高差分导航精度。确定远程用户的第一通信设备和第一导航接收器之间的第一时间偏移。确定远程用户的第一通信设备与差分参考站处的第二通信设备之间的第二时间偏移。确定第二通信设备和差分参考站处的第二导航接收机之间的第三次偏移。计算出与第一时间偏移，第二时间偏移和第三时间偏移的总体时间偏移，并用于提高差分导航精度。

10. 发明授权

US07219013B1 Method and system for fault detection and exclusion for multi-sensor navigation systems 有权
标题翻译：多传感器导航系统的故障检测和排除方法和系统
公开(公告)号：US07219013B1
公开(公告)日：2007-05-15
申请号：US10631314
申请日：2003-07-31
申请人： Shih-Yih R. Young , Gary A. McGraw
发明人： Shih-Yih R. Young , Gary A. McGraw
IPC分类号： G01C21/00
CPC分类号： G01C21/165 , G01S19/20
摘要： A new Fault Detection and Exclusion (FDE) approach for tightly integrated GPS/inertial sensors that combines a normalized solution separation for fault detection and a residual monitoring scheme for fault exclusion is described. The computation of the detection threshold, the horizontal protection level and the horizontal uncertainty level are also presented. This new FDE algorithm is designed to enable the tightly integrated GPS/inertial sensor to be used as a primary means of navigation sensor for civil aviation.
摘要翻译：描述了用于紧密集成的GPS /惯性传感器的新的故障检测和排除（FDE）方法，其组合用于故障检测的归一化解决方案分离和用于故障排除的残留监控方案。还提出了检测阈值，水平保护水平和水平不确定度水平的计算。这种新的FDE算法旨在使紧密集成的GPS /惯性传感器能够用作民航导航传感器的主要手段。

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