VEHICULAR NAVIGATION AND POSITIONING SYSTEM
First Claim
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1. A method of estimating one or more of the velocity, position, or attitude of a vehicle equipped with a GNSS receiver, an inertial navigation system (INS), a vehicle sensor comprising a steering angle sensor and optionally a wheel speed sensor, a yaw rate sensor, and/or at least two G sensors, comprising the steps of:
- (a) setting one or more of an initial velocity, position or attitude;
(b) periodically obtaining INS data, vehicle sensor data, and if GNSS data is available, GNSS data from the GNSS receiver;
(c) in a recursive estimation filter, integrating all available data and estimating one or more error states including one or more of position error, velocity error, attitude error, IMU sensor error, vehicle sensor error and GNSS ambiguity; and
(d) updating one or more of the vehicle position, velocity or attitude.
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Abstract
A vehicular navigation and positioning method and system includes a GNSS receiver, an inertial navigation system and on-board vehicular sensors. Available data is integrated by a Kalman filter and vehicle position, velocity and attitude is updated as a result.
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Citations
12 Claims
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1. A method of estimating one or more of the velocity, position, or attitude of a vehicle equipped with a GNSS receiver, an inertial navigation system (INS), a vehicle sensor comprising a steering angle sensor and optionally a wheel speed sensor, a yaw rate sensor, and/or at least two G sensors, comprising the steps of:
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(a) setting one or more of an initial velocity, position or attitude; (b) periodically obtaining INS data, vehicle sensor data, and if GNSS data is available, GNSS data from the GNSS receiver; (c) in a recursive estimation filter, integrating all available data and estimating one or more error states including one or more of position error, velocity error, attitude error, IMU sensor error, vehicle sensor error and GNSS ambiguity; and (d) updating one or more of the vehicle position, velocity or attitude. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for estimating the velocity, position, or attitude of a vehicle equipped with a GNSS receiver, an inertial navigation system (INS), a vehicle sensor comprising a steering angle sensor and optionally a wheel speed sensor, a yaw rate sensor, at least two G sensors, comprising:
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(a) means for setting one or more of an initial velocity, position or attitude; (b) means for periodically obtaining INS data, vehicle sensor data, and if GNSS data is available, GNSS data from the GNSS receiver; (c) a recursive estimation filter for integrating all available data and estimating one or more error states including one or more of position error, velocity error, attitude error, IMU sensor error, vehicle sensor error and GNSS ambiguity; and (d) means for updating one or more of the vehicle position, velocity or attitude. - View Dependent Claims (10, 11, 12)
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Specification