초록 ▼

An automated vehicle includes a navigation system which carries out a dead reckoning calculation of the vehicle\s position based on inputs from sensors on the motion of a steering wheel in the preceding time interval, Dabdm in steering wheel radius are updated by the addition of the product of a Kal

An automated vehicle includes a navigation system which carries out a dead reckoning calculation of the vehicle\s position based on inputs from sensors on the motion of a steering wheel in the preceding time interval, Dabdm in steering wheel radius are updated by the addition of the product of a Kalman gain calculated by computer and an error signal produced each time an observation is made by laser bearing finding equipment on the vehicle.

대표청구항 ▼

A navigation system for a wheeled vehicle having steering means and means for controlling the steering means in response to a stored program, said vehicle in operation having a heading angle and a spatial position within a predetermined coordinate frame of reference, and a bearing and a range to a t

A navigation system for a wheeled vehicle having steering means and means for controlling the steering means in response to a stored program, said vehicle in operation having a heading angle and a spatial position within a predetermined coordinate frame of reference, and a bearing and a range to a target at a known predetermined position within said frame of reference, said navigation system comprising: (a) means for determining a linear distance traveled by the vehicle and an amount of rotation of the vehicle about a predetermined center of rotation during each of a plurality of successive time intervals; (b) means coupled to said determining means for producing, in response to said linear distance and said amount of rotation determined during each said time interval, updated estimates of said heading angle and said spatial position of the vehicle within said predetermined coordinate frame of reference; (c) means coupled to said updated estimate producing means for determining at least one of said bearing and said range to a target at a known predetermined position within said reference frame, and for deriving an error signal as a difference between an actual measured respective one of said bearing and said range and a respective one of said bearing and said range that should have been measured if the vehicle was actually at the estimated position with the estimated heading; and (d) filter means responsive to said error signal for producing corrected estimated values of said heading angle and of said spatial position of said vehicle and also for producing a corrected estimated value of at least one further parameter of said vehicle for substantially continuously calibrating a respective one of said means (a), (b) and (c).