초록 ▼

The present invention discloses an improved vehicular inertial guidance navigation system, a.k.a. a dead reckoning system for navigation of a vehicle. The inertial guidance navigation system which may be used alone or in combination with other position determination means, such as GPS and map databa

The present invention discloses an improved vehicular inertial guidance navigation system, a.k.a. a dead reckoning system for navigation of a vehicle. The inertial guidance navigation system which may be used alone or in combination with other position determination means, such as GPS and map databases, to determine the location of a vehicle. The dead reckoning system has several advantages over existing systems. First, it can be easily mounted to the chassis of any vehicle. Second, it does not require any interface with existing sensors on the vehicle. Third, the system contains logic for removing errors in the position and heading determinations, brought about by angulation/rotation of the chassis and inertial guidance sensors, brought about by inclination or tilt of the chassis, with respect to an inertial/quasi-inertial frame of reference, such as the earth. The inertial guidance system includes: an inertial guidance sensor, a translation unit, and a logic unit. The inertial guidance sensor is suitable for coupling to the vehicle. The inertial guidance sensor senses motion of the vehicle in a non-inertial frame of reference and forming a sensor signal corresponding thereto. The translation unit is coupled to receive the sensor signal formed by the inertial guidance sensor. The translation unit translates the sensor signal into a quasi-inertial frame of reference and forms a translated signal corresponding thereto. The logic unit receives the translated signal formed by the translation unit and converts converting the translated signal into an estimated position and heading of the vehicle.

대표청구항 ▼

[ What is claimed is:] [1.]1. An inertial guidance system for navigation of a vehicle having a body plane angle associated therewith, said inertial guidance system comprising:an inertial guidance sensor for coupling to the vehicle, and for sensing motion of the vehicle in a non-inertial frame of ref

[ What is claimed is:] [1.]1. An inertial guidance system for navigation of a vehicle having a body plane angle associated therewith, said inertial guidance system comprising:an inertial guidance sensor for coupling to the vehicle, and for sensing motion of the vehicle in a non-inertial frame of reference and forming an angular motion signal and an acceleration signal corresponding thereto;a frame transformation unit coupled to receive the angular motion and acceleration signals, correct the angular motion signal using body plane angle data derived from the acceleration signal, and correct the acceleration signal using a rotation matrix representing the corrected angular motion signal, thereby transforming the angular motion and acceleration signals into a quasi-inertial frame of reference; anda logic unit coupled to receive the corrected angular motion and acceleration signals formed by said frame transformation unit, said logic unit for converting the corrected angular motion and acceleration signals into an estimated position and heading of the vehicle.