Vehicle dynamics conditioning method on MEMS based integrated INS/GPS vehicle navigation system
First Claim
1. A navigation method of conditioning ground vehicle'"'"'s dynamics for microelectro mechanical system (MEMS) based integrated inertial navigation system (INS)/GPS navigation systems, comprising the steps of:
- (a) defining vehicle dynamics conditions in advance as a function of accelerations and angular rates obtained from inertial sensors;
(b) receiving the accelerations and angular rates corresponding to coordinates of a ground vehicle from inertial sensors mounted on the INS;
(c) detecting a current dynamics condition of the vehicle by evaluating the accelerations and angular rates from the inertial sensor;
(d) sending measured data indicative of the detected vehicle dynamics condition to a Kalman filter which integrates the INS and GPS to conduct a Kalman filter processing incorporating the vehicle dynamics condition; and
(e) repeating the steps (b) to (d) to obtain optimum estimates of current vehicle position, velocity and orientation.
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Abstract
A method of compensating performance of low-cost MEMS (microelectro mechanical systems) inertial sensors in an integrated INS/GPS navigation system for automotive application is disclosed. The proposed method includes velocity and inertial sensor output conditions featured in ground vehicle dynamics. Using the conventional Kalman filter based INS/GPS system, implementation of the prescribed conditions in the present invention additionally to the GPS measurements shows accurate motion tracking even when GPS signal dropouts last for more than 2 minutes. Another aspect of the disclosure is an integrated INS/GPS navigation system which utilizes MEMS based inertial sensors for maintaining high position tracking accuracy even when a GPS signal is lost or unavailable for a long period of time by incorporating the predefined vehicle dynamics conditions when calculating optimum estimates through the Kalman filtering process.
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Citations
20 Claims
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1. A navigation method of conditioning ground vehicle'"'"'s dynamics for microelectro mechanical system (MEMS) based integrated inertial navigation system (INS)/GPS navigation systems, comprising the steps of:
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(a) defining vehicle dynamics conditions in advance as a function of accelerations and angular rates obtained from inertial sensors; (b) receiving the accelerations and angular rates corresponding to coordinates of a ground vehicle from inertial sensors mounted on the INS; (c) detecting a current dynamics condition of the vehicle by evaluating the accelerations and angular rates from the inertial sensor; (d) sending measured data indicative of the detected vehicle dynamics condition to a Kalman filter which integrates the INS and GPS to conduct a Kalman filter processing incorporating the vehicle dynamics condition; and (e) repeating the steps (b) to (d) to obtain optimum estimates of current vehicle position, velocity and orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An integrated INS (inertial navigation system)/GPS (global positioning system) navigation system implementing microelectro mechanical system (MEMS) sensors for a ground vehicle, comprising:
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an inertial navigation system (INS) having an inertial measurement unit (IMU) which incorporates MEMS sensors; a GPS (global positioning system) receiver which receives satellite signals from a plurality of satellites to produce GPS measurements indicating absolute position and velocity of the ground vehicle; a Kalman filter which combines outputs of the INS and the GPS receiver and performs a Kalman filter processing; and a vehicle dynamics conditioning (VDC) controller which controls an overall operation of the navigation system including vehicle dynamics conditions detected from output of the MEMS sensors; wherein said vehicle dynamics conditions include a normal condition, a cornering condition and a stationary condition of the ground vehicle. - View Dependent Claims (11, 12, 13, 14)
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15. An integrated INS (inertial navigation system)/GPS (global positioning system) navigation system implementing microelectro mechanical system (MEMS) sensors for a ground vehicle, comprising
means for defining vehicle dynamics conditions in advance as a function of accelerations and angular rates obtained from inertial sensors; -
means for receiving the accelerations and angular rates corresponding to coordinates of a ground vehicle from inertial sensors mounted on the INS; means for detecting a current dynamics condition of the vehicle by evaluating the accelerations and angular rates from the inertial sensor; means for sending measured data indicative of the detected vehicle dynamics condition to a Kalman filter which integrates the INS and GPS to conduct a Kalman filter processing incorporating the vehicle dynamics condition; and means for repeating the steps (b) to (d) to obtain optimum estimates of current vehicle position, velocity and orientation. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification