Method and system for adapting a navigation system

• US 10,267,638 B2
• Filed: 12/09/2016
• Issued: 04/23/2019
• Est. Priority Date: 06/11/2014
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Steinhardt, Nico, Surek, Daniel
• Primary Examiner(s): Paige, Tyler D
• Application Number:
  US15/374,325
• Publication Number:
  US 20170089705A1
• Time in Patent Office: 865 Days
• Field of Search: 701501
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Abstract

A navigation system comprises a base system and at least one correction system. The base system and the at least one correction system each capture measured values. The measured values describe navigation data, and are each burdened with error values. The error values describe discrepancies in the measured values from the described navigation data. At least the error values of the measured values of the base system are recognized by the measured values of the at least one correction system and wherein the recognition is effected by considering an availability of the at least one correction system. The consideration represents adaptation of parameters of a stochastic system model. The stochastic system model prescribes a weighting for measured values of the at least one correction system with respect to measured values of the base system in accordance with the parameters.

Claims

1. A method for adapting a navigation system for a vehicle comprising:

capturing measured values of navigation data with a controller for the navigation system from each of a base system and from at least one correction system, wherein the measured values include error values which describe discrepancies of the measured values from the navigation data;

recognizing the error values of the measured values of the at least one correction system based on the availability of the at least one correction system;

considering an availability of the at least one correction system by comparison of measured values captured at a particular time with other measured values captured at one of the same time and at a time which is substantially immediately in the proximity thereof; and

adapting parameters of a stochastic system model for the consideration, wherein the stochastic system model prescribes a weighting for measured values of the at least one correction system with respect to measured values of the base system in accordance with the parameters; and

wherein the base system is an inertial navigation system for the vehicle and the at least one correction system is one of a global satellite navigation system for the vehicle and an odometry navigation system for the vehicle.

2. The method according to claim 1, further comprising correcting at least of the error values of the measured values of the base system with the measured values of the at least one correction system, wherein the correcting is effected by considering the availability of the at least one correction system.

3. The method according to claim 1, further comprising determining the availability of the at least one correction system by a self-diagnostic function.

4. The method according to claim 1, wherein at least one of the recognizing and the correcting includes using an error state space filter.

5. The method according to claim 4, wherein the error state space filter is a Kalman filter.

6. The method according to claim 1, wherein the base system and the at least one correction system are based on different methods to capture the measured values.

7. The method according to claim 1, wherein the odometry navigation system further comprises at least a plurality of wheel speed sensors and a steering angle sensor.

8. The method according to claim 1, wherein the inertial navigation system is a microelectromechanical system inertial measurement unit.

9. The method according to claim 1, wherein the satellite navigation system is a receiver for a global positioning system.

10. A navigation system for use in a vehicle, comprising:

a base system, in the form of an inertial navigation system, which receives data from at least one vehicle sensor;

at least one correction system, wherein the base system and the at least one correction system capture measured values, which include error values, which describe discrepancies of the measured values from the navigation data and wherein the at least one correction system is one of a global satellite navigation system for the vehicle and an odometry navigation system for the vehicle;

a controller for the navigation system with instructions for;

recognizing the error values of the measured values of the at least one correction system based on the availability of the at least one correction system;

considering an availability of the at least one correction system by comparison of measured values captured at a particular time with other measured values captured at one of the same time and at a time which is substantially immediately in the proximity thereof; and

adapting parameters of a stochastic system model for the consideration, wherein the stochastic system model prescribes a weighting for measured values of the at least one correction system with respect to measured values of the base system in accordance with the parameters.

11. The system according to claim 10, wherein the system is in a motor vehicle.

12. The system according to claim 10, wherein a correction at least of the error values of the measured values of the base system is effected by the measured values of the at least one correction system and by considering the availability of the at least one correction system.

13. The system according to claim 10, wherein the availability of the at least one correction system is determined by a self-diagnostic function.

14. The system according to claim 10, wherein an error state space filter is used to perform at least one of the recognizing and the correcting.

15. The system according to claim 14, wherein the error state space filter is a Kalman filter.

16. The system according to claim 10, wherein the base system is an inertial navigation system, which receives data from at least one vehicle sensor.

17. The system according to claim 10, wherein the odometry navigation system further comprises at least a plurality of wheel speed sensors and a steering angle sensor.