Global navigation satellite system vehicle position augmentation utilizing map enhanced dead reckoning

• US 10,254,414 B2
• Filed: 04/11/2017
• Issued: 04/09/2019
• Est. Priority Date: 04/11/2017
• Status: Active Grant

• Current Assignee: Arriver Software LLC
• Original Assignee: Veoneer US Inc. (SSW Partners LP)
• Inventors: McFarland, Daniel, Nitzschke, Jens
• Primary Examiner(s): Jos, Basil T.
• Application Number:
  US15/484,341
• Publication Number:
  US 20180292543A1
• Time in Patent Office: 728 Days
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

A method of enhancing global navigation satellite system performance includes the steps of (A) determining position information based upon (i) global navigation satellite system information, (ii) dead reckoning using one or more sensor inputs, and (iii) a correction signal, (B) when the global navigation satellite system information is unavailable, adjusting the position information and generating the correction signal based upon pre-defined map data, and (C) when the global navigation satellite system information is reacquired after being unavailable, suspending the dead reckoning for a predefined amount of time.

Claims

1. A method of enhancing global navigation satellite system performance comprising:

determining position information based upon (i) global navigation satellite system information, (ii) dead reckoning using one or more sensor inputs, and (iii) a correction signal;

when said global navigation satellite system information is unavailable, adjusting said position information and generating said correction signal based upon pre-defined map data; and

when said global navigation satellite system information is reacquired after being unavailable, suspending said dead reckoning for a predefined amount of time.

2. The method according to claim 1, further comprising:

accessing a map database to obtain said predefined map data based upon said position information.

3. The method according to claim 1, wherein:

said one or more sensor inputs are communicated from sensor outputs of a vehicle via a data bus of said vehicle; and

said position information comprises a location of said vehicle.

4. The method according to claim 3, wherein communication of said vehicle sensor outputs via said vehicle data bus to said one or more sensor inputs is interrupted for said predefined amount of time when said global navigation satellite system information is reacquired after being unavailable.

5. The method according to claim 3, wherein said vehicle data bus comprises a controller area network.

6. The method according to claim 3, wherein said vehicle sensor outputs are fed to at least one sensor input of a global navigation satellite system chipset configured to generated said position information based on signals received from a plurality of satellites, said dead reckoning, and said correction signal.

7. The method according to claim 6, wherein said global navigation satellite system chipset is further configured to provide an indication of when said global navigation satellite system information is unavailable and when said global navigation satellite system information is reacquired after being unavailable.

8. The method according to claim 1, wherein adjusting said position information comprises shifting a location indicated by said position information to a centerline of a road.

9. The method according to claim 1, wherein generating said correction signal comprises determining a correction needed to shift a location indicated by said position information to a centerline of a road.

10. A non-transitory computer readable storage medium containing processor executable instructions which, when executed by a processor of a global navigation satellite system receiver, cause the processor to perform the steps of:

determining position information based upon (i) global navigation satellite system information received from a plurality of satellites, (ii) dead reckoning using one or more sensor inputs, and (iii) a correction signal;

when said global navigation satellite system information is unavailable, adjusting said position information and generating said correction signal based upon pre-defined map data; and

when said global navigation satellite system information is reacquired after being unavailable, suspending said dead reckoning for a predefined amount of time.

11. An apparatus comprising:

a first circuit configured to determine position information based upon (i) global navigation satellite system information, (ii) dead reckoning using one or more sensor inputs, and (iii) a correction signal; and

a second circuit configured to (i) generate said correction signal based upon pre-defined map data and (ii) temporarily suspend communication of said one or more sensor inputs of said vehicle to said first circuit when said global navigation satellite system information is reacquired after being unavailable.

12. The apparatus according to claim 11, wherein said map data comprises one or more of road information for an entire region, road location information, road curvature information, road surface information, road slope information, road lane number, speed limits, tunnel locations, and tunnel lengths.

13. The apparatus according to claim 11, wherein said map data is limited to road information for areas where satellite information is known to be unavailable.

14. The apparatus according to claim 11, wherein said map data is limited to location and length information for road sections with tunnels.

15. The apparatus according to claim 11, wherein said second circuit is further configured to (i) receive said one or more sensor inputs from a vehicle data bus, (ii) communicate said one or more sensor inputs received from said vehicle data bus to said first circuit when said global navigation satellite system information is available or has become unavailable, and (iii) temporarily suspend communication of said one or more sensor inputs received from said vehicle data bus to said first circuit when said global navigation satellite system information is reacquired after having been unavailable.

16. The apparatus according to claim 11, wherein said second circuit is further configured to temporarily suspend communication of said one or more sensor inputs to said first circuit when position information received from said first circuit changes from dead-reckoning-only to satellite-plus-dead-reckoning.

17. The apparatus according to claim 11, wherein said first circuit and said second circuit are disposed on a single printed circuit board.

18. The apparatus according to claim 11, wherein said first circuit and said second circuit are disposed on separate printed circuit boards.

19. The apparatus according to claim 11, wherein said first circuit and said second circuit are disposed on a first side of a single printed circuit board and an antenna configured to receive satellite signals is disposed on a second side of said printed circuit board.

20. The apparatus according to claim 11, wherein said second circuit comprises a processor and a non-transitory computer readable storage medium storing (i) said pre-defined map data and (ii) computer executable instructions, which when executed by said processor cause said processor to (i) generate said correction signal based upon said pre-defined map data and (ii) temporarily suspend communication of said one or more sensor inputs to said first circuit when said global navigation satellite system information is reacquired after being unavailable.