Method of increasing location accuracy in an inertial navigational device
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-021/26
출원번호
US-0078796
(2002-02-19)
발명자
/ 주소
Swope, Charles B.
Tealdi, Daniel A.
Koskan, Patrick Douglas
출원인 / 주소
Motorola, Inc
대리인 / 주소
Hughes, Terri S.
인용정보
피인용 횟수 :
55인용 특허 :
1
초록▼
A method of increasing location accuracy in an inertial navigational device (100) is described herein. The navigational device (100) generates real-time data to depict its location. The data comprises at least one of sensor data, motion data, and location data. The navigational device (100) transmit
A method of increasing location accuracy in an inertial navigational device (100) is described herein. The navigational device (100) generates real-time data to depict its location. The data comprises at least one of sensor data, motion data, and location data. The navigational device (100) transmits the real-time data to a second device (104) in a real-time fashion. The navigational device (100) receives an update message from the second device (104), based on a comparison of the real-time data generated by the navigational device (100) against a second set of data. The navigational device (100) adjusts its depicted location based on the update message in order to increase the location accuracy of the navigational, device (100). Alternatively, the navigational device (100), absent the second device (104), can compare the real-time data generated against the second set of data internally and adjust its depicted location accordingly.
대표청구항▼
A method of increasing location accuracy in an inertial navigational device (100) is described herein. The navigational device (100) generates real-time data to depict its location. The data comprises at least one of sensor data, motion data, and location data. The navigational device (100) transmit
A method of increasing location accuracy in an inertial navigational device (100) is described herein. The navigational device (100) generates real-time data to depict its location. The data comprises at least one of sensor data, motion data, and location data. The navigational device (100) transmits the real-time data to a second device (104) in a real-time fashion. The navigational device (100) receives an update message from the second device (104), based on a comparison of the real-time data generated by the navigational device (100) against a second set of data. The navigational device (100) adjusts its depicted location based on the update message in order to increase the location accuracy of the navigational, device (100). Alternatively, the navigational device (100), absent the second device (104), can compare the real-time data generated against the second set of data internally and adjust its depicted location accordingly. the step of comparing the direction of each of the candidate navigable routes to an average direction of the MR derived using the predicted position values stored in the time ordered list. 7. The method as recited in claim 2, wherein the predictive filter is a Kalman filter, wherein the predetermined minimum distance is in the approximate range of 0.5 to 3 kilometers, and wherein m is less than 6. 8. A method of accurately determining the position of a mobile receiver (MR) based upon a received positional signal having relatively low and high frequency noise components corrupting the positional accuracy of the received signal, comprising: (a) detecting a turn of the MR using the received positional signal and deriving a first positional offset associated with the turn and representative of the low frequency noise component; (b) deriving a position value of the MR using the received positional signal after detecting the turn, and correcting the position value with the first positional offset associated with the turn to derive a corrected position value; and (c) applying the corrected position value to a filter along with a second positional offset associated with the corrected position value and representative of the high frequency noise component to derive a filtered position value substantially free of the low and high frequency noise components. 9. The method of claim 8, wherein said steps (a) through (c) are executed without applying a dead reckoning algorithm that uses an external sensor other than a satellite signal receiver. 10. The method of claim 8, wherein said steps (a) through (c) are repeated continuously to derive subsequent filtered position values substantially free of the low and high frequency noise components. 11. The method of claim 8, comprising deriving position values using the received positional signal; predictively filtering the position values with a predictive filter to derive predicted position values; and detecting the turn and deriving a predicted turn position using the predicted position values, the first positional offset representing a distance between the predicted turn position and a probable turn position of where the MR probably turned on a navigable route represented in a map database and selected from the map database using a map matching algorithm. 12. The method as recited in claim 11, wherein the positional signal comprises a plurality of GPS satellite signals wherein at least one of the positional signals includes the low frequency and high frequency noise component, wherein the mobile receiver is a GPS receiver, and wherein the predictive filter is a Kalman filter. 13. The method as recited in claim 12, wherein the second positional offset is applied to the Kalman filter as a positional variance error to control a Kalman gain of the Kalman filter. 14. The method as recited in claim 12, wherein the high frequency noise component includes noise frequencies in the approximate range of 2 Hz or more, and the low frequency noise includes noise caused by at least one of Selective Availability and multipath reflections. 15. The method of claim 8, wherein the second positional offset represents a shortest distance between the corrected position value and a probable navigable route coinciding with where the MR is probably located, the probable navigable route being determined by map matching a predicted position value derived by the predictive filter after the turn of the MR is detected to the navigable route. 16. A method of accurately determining the position of a mobile receiver (MR) based upon a received positional signal having low and high frequency components corrupting the positional accuracy of the received signal, comprising: (a) receiving the positional signal over time intervals T1through Tm,where T represents the duration of each time interval and the subscript represents the position of each time interval in the sequence of time intervals
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이 특허에 인용된 특허 (1)
Krasner Norman F., GPS receiver and method for processing GPS signals.
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