Method and system for determining the location of a vehicle
First Claim
1. A method for accurately determining a location of a vehicle, the method comprising:
- determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
selecting the first location estimate of the vehicle as a preferential location in accordance with an initialization scheme for the vehicle in a work area; and
applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as the preferential location upon satisfactory completion of the initialization scheme.
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Accused Products
Abstract
A first location determining receiver determines a first location estimate of a vehicle. The first location determining receiver is associated with satellite beacons. A second location determining receiver determines a second location estimate of a vehicle. The second location determining receiver is exclusively associated with terrestrial beacons. A selector selects the first location estimate of the vehicle as a preferential location in accordance with an initialization scheme for the vehicle in a work area. A filtering module applies a first weight to a first location and a second weight to the second location to derive a weighted estimate as the preferential location upon satisfactory completion of the initialization scheme.
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Citations
24 Claims
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1. A method for accurately determining a location of a vehicle, the method comprising:
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determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
selecting the first location estimate of the vehicle as a preferential location in accordance with an initialization scheme for the vehicle in a work area; and
applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as the preferential location upon satisfactory completion of the initialization scheme. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10, 11)
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8. The method according to claim 8 wherein the least squares estimation is consistent with a generally linear relationship of the first location estimate and the second location estimate over time.
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12. A method for accurately determining a location of a vehicle, the method comprising:
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determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as a preferential location of the vehicle;
establishing a first target probability density function for the first location estimate based on empirical measurements in a work area;
establishing a second target probability density function for the second location estimate based on empirical measurements in the work area; and
providing a soft transition from the first location estimate as a dominant estimate in the weighted estimate and the second location estimate as the dominant estimate in the weighted estimate by limiting a rate of change in the first weight and the second weight in accordance with the first target probability density function and the second probability density function. - View Dependent Claims (13)
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14. A system for accurately determining a location of a vehicle, the system comprising:
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a first location determining receiver for determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
a second location determining receiver for determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
a selector for selecting the first location estimate of the vehicle as a preferential location in accordance with an initialization scheme for the vehicle in a work area; and
a filtering module for applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as the preferential location upon satisfactory completion of the initialization scheme. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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23. A system for accurately determining a location of a vehicle, the system comprising:
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a first location determining receiver for determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
a second location determining receiver for determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
a filtering module for applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as a preferential location of the vehicle;
a definer for establishing a first target probability density function for the first location estimate based on empirical measurements in a work area and for establishing a second target probability density function for the second location estimate based on empirical measurements in the work area; and
a transition manager for providing a soft transition from the first location estimate as a dominant estimate in the weighted estimate and the second location estimate as the dominant estimate in the weighted estimate by limiting a rate of change in the first weight and the second weight in accordance with the first target probability density function and the second probability density function. - View Dependent Claims (24)
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Specification