[특허]Vehicle position determination system and method

Vehicle position determination system and method 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-015/50
출원번호	US-0019441 (1993-02-18)
발명자 / 주소	Sennott James W. (Bloomington IL) Kyrtsos Christos T. (Peoria IL) Gudat Adam J. (Edelstein IL) Christensen Dana A. (Peoria IL) Friedrich Douglas W. (Pekin IL) Stafford Darrell E. (Dunlap IL)
출원인 / 주소	Caterpillar Inc. (Peoria IL 02)
인용정보	피인용 횟수 : 119 인용 특허 : 0

초록 ▼

Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle\s position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate.

대표청구항 ▼

A method for estimating the terrestrial position of a vehicle (102), comprising: (1) receiving electromagnetic signals at a base station from a constellation of satellites and responsively determining a base spatial bias, a base clock bias, and base pseudoranges; (2) transmitting said base spatial bias, said base clock bias, and said base pseudoranges to the vehicle; (3) receiving electromagnetic signals at the vehicle from said constellation of satellites and responsively determining vehicle pseudoranges; (4) receiving said base spatial bias and said base clock bias at the vehicle and determining a position estimate of the vehicle as a function of said base spatial bias, said base clock bias, and said vehicle pseudoranges; (5) determining an estimate of the position of said base station at the vehicle as a function of said base pseudoranges; (6) determining an offset as a function of said estimate of the position of said base station and a known position of said base station; (7) updating said position estimate of the vehicle as a function of said offset; and (8) repeating steps (5)-(7) until said offset is less than a predetermined threshold.

이 특허를 인용한 특허 (119)

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Vehicle position determination system and method 원문보기

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