Allan J Brockstein

6573486, Jun 3, 2003

Feb 22, 2002

10/080760

Joseph A. Ratkovic - Los Angeles CA
Samuel N. Fersht - Studio City CA
Robert D. Curby - Thousand Oaks CA
Allan J. Brockstein - Chatsworth CA
David Y. Hsu - Agoura Hills CA

Northrop Grumman Corporation - Woodland Hills CA

F41G 700

244 32, 244 315, 701207, 701213, 701214, 701216, 34235701, 34235706

A projectile guidance system without gyros in which the projectile has an orthogonal body coordinate system. The projectile has a triax of accelerometers providing x, y and z acceleration data measured along the x, y and z axes respectively. A GPS antenna and receiver means provides onboard GPS position and velocity data in earth referenced navigational coordinates. A computer and program means stores and accesses time indexed GPS position and GPS velocity data and transforms x, y and z axis acceleration data from body to navigation coordinates. The program means is responsive to corresponding time indexed acceleration data and to GPS velocity and position data for calculating and outputing an estimated projectile roll, pitch and yaw angle via optimal smoothing techniques with respect to local level for each time index iteration of present position to a flight control system for guiding the projectile to a predetermined location.

6883747, Apr 26, 2005

Mar 28, 2003

10/402644

Joseph A. Ratkovic - Playa Del Ray CA, US
Allan J. Brockstein - Chatsworth CA, US
Robert J. Buchler - Calabasas CA, US

Northrop Grumman Corporation - Woodland Hills CA

F41G007/00
F42B015/01

244 315, 244 31, 244 319, 34235701, 34235706, 34235708, 701207, 701213

A projectile guidance system without gyros in which the projectile has an orthogonal body coordinate system. The projectile has a triax of accelerometers providing x, y and z acceleration data measured along the x, y and z axes respectively. A GPS antenna and receiver means provides onboard GPS position and velocity data in earth referenced navigational coordinates. A computer and program means stores and accesses time indexed GPS position and GPS velocity data and transforms x, y and z axis acceleration data from body to navigation coordinates. The program means is responsive to corresponding time indexed acceleration data and to GPS velocity and position data for calculating and outputting an estimated projectile roll, pitch and yaw angle via optimal smoothing techniques with respect to local level for each time index iteration of present position to a flight control system, which actuates a divert propulsion system for guiding the projectile to a predetermined location.

62497456, Jun 19, 2001

May 11, 1999

9/309796

David Y. Hsu - Agoura Hills CA
Allan J. Brockstein - Chatsworth CA

Litton Systems, Inc. - Woodland Hills CA

G01C 2100
G01C 2120

701220

The invention is a method and apparatus for gravity vector compensation in an inertial navigation system (INS). The INS obtains its position and determines a gravity-model vector at its position using a predetermined gravity model. The deflection of vertical (DOV), the error in the direction of the gravity-model vector, is expressed in terms of a North-South (N-S) DOV component and an East-West (E-W) DOV component. Matrices of N-S DOV and E-W DOV data are stored in memory in a plurality of files for a plurality of discrete points distributed over the surface of the earth at a plurality of altitudes. The elements of a matrix of N-S DOV data or E-W DOV data have a one-to-one correspondence with a two-dimensional array of discrete contiguous points at a specified altitude above the earth's surface. Adjacent elements in a matrix correspond to (1) adjacent points on a parallel of latitude or (2) adjacent points on a half-circle meridian, a half-circle meridian terminating at the two poles of the earth. The method consists of obtaining the INS position, separately translating the N-S DOV data and the E-W DOV data from a plurality of matrices into a plurality of supermatrices, determining the N-S DOV and the E-W DOV at the INS position utilizing data from the plurality of supermatrices, and finally compensating the direction of the gravity-model vector for the N-S DOV and the E-W DOV.

55438040, Aug 6, 1996

Sep 13, 1994

8/305400

Robert J. Buchler - Calabasas Park CA
Allan J. Brockstein - Chatsworth CA
David Y. Hsu - Agoura CA

Litton Systems, Inc. - Beverly Hills CA

H04B 7185
G01S 502

342357

The navigation apparatus with improved attitude determination is intended for use on a mobile platform. It combines data from a platform inertial navigation unit and carrier phase data for a plurality of GPS satellite signals received at a plurality of receiving points on the platform for the purpose of obtaining estimates of the navigation states of the platform. The navigation apparatus comprises a processor which computes estimates of the states from inputs comprising (1) one or more measured phase double-differences calculated from the measured satellite signal carrier phases, (2) the estimated position of the platform, (3) the estimated positions of the receiving points, and (4) the positions of the satellites, a phase double-difference being defined as the difference in phase differences for signals received from two satellites and a phase difference being defined as the difference in carrier phase of a satellite signal received at two receiving points. The navigation and attitude determination solution is obtained by means of a Kalman filter process wherein the observables comprise measured phase double-differences and each predicted phase double-difference is obtained by operating on the Kalman state vector with an observation matrix defined by linearizing the equations relating the phase double-difference to the navigation states.