초록 ▼

A method for monitoring the integrity of an integrated positioning system located on a mobile machine is provided. The integrated positioning system includes a GPS receiver and an inertial navigation unit (INU). The INU includes an odometer, a Doppler radar, a gyroscope, and a sensor for measuring t

A method for monitoring the integrity of an integrated positioning system located on a mobile machine is provided. The integrated positioning system includes a GPS receiver and an inertial navigation unit (INU). The INU includes an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine. The method includes the steps of receiving a GPS position estimate from a GPS receiver, receiving an INU position estimate from an inertial navigation unit, and comparing the GPS position estimate and the INU position estimate. If the two position estimates are the same, then the system is VALID. Otherwise, the velocity of the mobile machine as determined by the odometer and velocity as determined by the Doppler radar are compared. If the difference is greater than a first predetermined threshold, then the INU is determined to be INVALID. Otherwise a heading rate from gyroscope is compared with a calculated heading rate based on measured steering angle and velocity. If the difference is greater than a second predetermined threshold, then the INU is INVALID, otherwise the GPS is INVALID.

대표청구항 ▼

[ I claim:] [1.] A method for monitoring the integrity of an integrated positioning system located on a mobile machine, the integrated positioning system including a GPS receiver and an inertial navigation unit (INU), the INU including an odometer, a Doppler radar, a gyroscope, and a sensor for meas

[ I claim:] [1.] A method for monitoring the integrity of an integrated positioning system located on a mobile machine, the integrated positioning system including a GPS receiver and an inertial navigation unit (INU), the INU including an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine, including the steps of:a) receiving a GPS position estimate from a GPS receiver;b) receiving an INU position estimate from an inertial navigation unit;c) comparing the GPS position estimate and the INU position estimate, if same then system determined VALID, otherwise, proceed to step d);d) comparing velocity of mobile machine as determined by the odometer and velocity as determined by the Doppler radar, if difference is greater than a first predetermined threshold, then the INU is INVALID, otherwise proceed to step e); ande) comparing heading rate from gyroscope with a calculated heading rate based on measured steering angle and velocity, if difference if greater than a second predetermined threshold, then the INU is INVALID, otherwise the GPS is INVALID.