Method And Apparatus Of Updating Vehicle Position And Orientation
First Claim
1. A method of updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor, the method comprising:
- storing the vehicle position and orientation when the navigation system is inoperative and setting the stored vehicle position and orientation as the initial vehicle position and orientation when the navigation system is operative;
estimating a vehicle position and orientation by using a signal output from the dead reckoning sensor and the initial vehicle position and orientation after the navigation system becomes operative;
determining whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the navigation system becomes operative; and
updating the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high.
1 Assignment
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Accused Products
Abstract
A method of updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor includes the acts of storing the vehicle position and orientation when the navigation system is inoperative and setting the stored vehicle position and orientation as the initial vehicle position and orientation when the navigation system is operative; estimating a vehicle position and orientation by using a signal output from the dead reckoning sensor and the initial vehicle position and orientation after the navigation system becomes operative; determining whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the navigation system becomes operative; and updating the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high.
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Citations
20 Claims
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1. A method of updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor, the method comprising:
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storing the vehicle position and orientation when the navigation system is inoperative and setting the stored vehicle position and orientation as the initial vehicle position and orientation when the navigation system is operative; estimating a vehicle position and orientation by using a signal output from the dead reckoning sensor and the initial vehicle position and orientation after the navigation system becomes operative; determining whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the navigation system becomes operative; and updating the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor, the apparatus comprising:
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a storage unit that stores the vehicle position and orientation when the navigation system is inoperative as the initial vehicle position and orientation when the navigation system becomes operative; a position-and-orientation estimating unit that estimates a vehicle position and orientation by using a signal output from the dead reckoning sensor and the initial vehicle position and orientation after the navigation system becomes operative; a GPS orientation reliability determining unit that determines whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the navigation system becomes operative; and an updating unit that updates the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high. - View Dependent Claims (7, 8, 9, 10)
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11. A method of updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor, the method comprising:
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storing the vehicle position and orientation at a time when entry of the vehicle into a multi-level parking garage is detected; estimating a current vehicle position and orientation by using a signal output from the dead reckoning sensor and the stored vehicle position and orientation after the entry of the vehicle into the multi-level parking garage is detected; determining whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the entry of the vehicle into the multi-level parking garage is detected; and updating the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high. - View Dependent Claims (12, 13, 14, 15, 16)
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17. An apparatus for updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor, the apparatus comprising:
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a detecting unit that detects entry of the vehicle into a multi-level parking garage; a storage unit that stores the vehicle position and orientation when the entry of the vehicle into the multi-level parking garage is detected; a position-and-orientation estimating unit that estimates a current vehicle position and orientation by using a signal output from the dead reckoning sensor and the stored vehicle position and orientation after the entry of the vehicle into the multi-level parking garage is detected; a GPS orientation reliability determining unit that determines whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the entry of the vehicle into the multi-level parking garage is detected; and an updating unit that updates the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high. - View Dependent Claims (18, 19, 20)
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Specification