DEAD RECKONING SYSTEM
First Claim
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1. A method of dead reckoning navigation for a vehicle using a plurality of accelerometers, comprising:
- determining an orientation between the sensor frame of reference and a body frame of reference for the vehicle using sensed accelerations from the accelerometers; and
determining a dead-reckoning longitudinal acceleration for the vehicle by converting sensed accelerations from the accelerometers according to the determined orientation between the sensor frame of reference and the body frame of reference, wherein determining the orientation of the vehicle comprises;
with the vehicle in a state selected from the set consisting of a stationary state and an un-accelerated state, calculating a pitch angle and a roll angle between the sensor frame of reference and a body frame of reference for the vehicle using sensed accelerations from the accelerometers; and
with the vehicle accelerated without turning, calculating a yaw angle between the sensor frame and the body frame using sensed accelerations from the accelerometers.
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Abstract
In one embodiment, a system and method of dead reckoning navigation for a vehicle uses a set of accelerometers. Sensed accelerometers from the set are converted into a vehicle body frame of reference set of accelerations. The resulting converted accelerations are then used to determine a dead-reckoning longitudinal acceleration for the vehicle. By integrating the longitudinal acceleration along a heading for the vehicle, a dead-reckoning-determined location for the vehicle is provided.
20 Citations
16 Claims
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1. A method of dead reckoning navigation for a vehicle using a plurality of accelerometers, comprising:
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determining an orientation between the sensor frame of reference and a body frame of reference for the vehicle using sensed accelerations from the accelerometers; and determining a dead-reckoning longitudinal acceleration for the vehicle by converting sensed accelerations from the accelerometers according to the determined orientation between the sensor frame of reference and the body frame of reference, wherein determining the orientation of the vehicle comprises; with the vehicle in a state selected from the set consisting of a stationary state and an un-accelerated state, calculating a pitch angle and a roll angle between the sensor frame of reference and a body frame of reference for the vehicle using sensed accelerations from the accelerometers; and with the vehicle accelerated without turning, calculating a yaw angle between the sensor frame and the body frame using sensed accelerations from the accelerometers. - View Dependent Claims (2, 4, 5, 6, 7, 8, 9, 10)
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3. (canceled)
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11. A vehicle navigation system, comprising:
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a set of accelerometers operable to sense accelerations for the vehicle according to a sensor frame of reference; a GPS navigation system operable to determine a reference longitudinal acceleration for the vehicle; and a processor operable to calculate a pitch angle and a roll angle between the sensor frame of reference and a body frame of reference for the vehicle using sensed accelerations from the accelerometers with the vehicle in a state selected from the set consisting of a stationary state and an un-accelerated state and to calculate a yaw angle between the sensor frame and the body frame using the senses accelerations with the vehicle accelerated without turning, the processor being further operable to convert the sensed accelerations according to the pitch angle, the roll angle, and the yaw angle to provide converted accelerations and to calculate a dead-reckoning longitudinal acceleration for the vehicle using the converted accelerations. - View Dependent Claims (12, 13, 14, 15)
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16-20. -20. (canceled)
Specification