초록 ▼

The present invention provides methods and devices that enable correction of gyroscope bias and gyroscope bias drift in low-cost, vehicular navigation and positioning systems without using estimates of position and heading, and subsequent correction of heading and position errors resulting from gyro

The present invention provides methods and devices that enable correction of gyroscope bias and gyroscope bias drift in low-cost, vehicular navigation and positioning systems without using estimates of position and heading, and subsequent correction of heading and position errors resulting from gyroscope bias and bias drift, without relying on assumptions regarding gyroscope bias or predetermined time-dependent gyroscope bias drift profiles. The invention improves over existing GPS/DR systems that do not compensate for actual gyroscope bias instability, but instead correct the heading and position error that is induced by the bias instability and then correct estimates of gyroscope bias based on the corrected position and heading. The inventive methods provided herein can be used with any DR vehicle positioning system that uses a gyroscope.

대표청구항 ▼

1. A vehicle navigational system having built-in error correction comprising:(a) a distance traveled sensor; (b) a heading sensor having a bias that drifts over time; (c) a dead reckoning system having a distance traveled sensor interface and a heading sensor interface, wherein the dead reckoning co

1. A vehicle navigational system having built-in error correction comprising:(a) a distance traveled sensor; (b) a heading sensor having a bias that drifts over time; (c) a dead reckoning system having a distance traveled sensor interface and a heading sensor interface, wherein the dead reckoning component receives distance-traveled data from the distance-traveled sensor and heading data from the heading sensor and generates a first set of vehicle position data and a first set of vehicle heading data; (d) a reference vehicle position system in direct communication with the dead reckoning component, wherein the reference vehicle position system generates a second set of vehicle heading data and a second set of vehicle position data to the dead reckoning system; (e) a first computational means for determining if the vehicle is stationary; (f) a second computational means for generating an updated heading sensor bias; (g) a third computational means for generating a heading sensor bias drift rate; (h) a fourth computational means for integrating the first set of vehicle heading data and the second set of vehicle heading data into an integrated vehicle heading; (i) a fifth computational means for integrating the first set of vehicle position data and the second set of vehicle position into an integrated vehicle heading; (j) a sixth computational means for calculating an integrated vehicle heading correction using the estimated bias drift rate to compensate for integrated vehicle heading errors induced by heading sensor bias drift and an integrated vehicle position correction using the first integrated vehicle heading correction to compensate for integrated vehicle position errors induced by heading sensor bias drift; and (k) a seventh computational means for calculating a corrected vehicle heading and position.