Longitudinal and Lateral Velocity Estimation Using Single Antenna GPS and Magnetic Compass

• US 20100214164A1
• Filed: 02/25/2009
• Published: 08/26/2010
• Est. Priority Date: 02/25/2009
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (General Motors Company)
• Inventors: RYU, JIHAN, NARDI, FLAVIO, MOSHCHUK, NIKOLAI K., O'DEA, KEVIN A.
• Granted Patent: US 8,890,747 B2
• Time in Patent Office: Days
• US Class Current: 342/357.310
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A system and method is provided for determining a lateral velocity and a longitudinal velocity of a vehicle equipped. The vehicle includes only one antenna for a GPS receiver and a magnetic compass. A magnitude of a velocity vector of the vehicle is determined. A course angle with respect to a fixed reference using the single antenna GPS receiver is determined. A yaw angle of the vehicle is measured with respect to the fixed reference using a magnetic compass. A side slip angle is calculated as a function of the course angle and the yaw angle. The lateral velocity and longitudinal velocity is determined as a function of the magnitude of the velocity vector and the side slip angle.

Claims

1. A method for determining lateral velocity and longitudinal velocity of a vehicle equipped with a single antenna GPS receiver and a magnetic compass, the method comprising the steps of:

determining a velocity of the vehicle;

determining a direction of travel in relation to a predetermined point on the vehicle using GPS;

measuring a longitudinal orientation of the vehicle using a magnetic compass; and

determining the lateral velocity and longitudinal velocity each as a function of the magnitude of the velocity vector, and an angle between the direction of travel and the longitudinal orientation.

2. The method of claim 1 wherein the angle is a side slip angle determined as a function of the determined direction of travel in relation to the predetermined point and the longitudinal orientation of the vehicle, the side slip angle being represented by the following formula:

β

=γ

−

ψ

where β

is the side slip angle, γ

is the determined direction of travel in relation to the predetermined point, and ψ

is the longitudinal orientation of the vehicle.

3. The method of claim 2 wherein the lateral velocity is determined by the following formula:

v_x=|V| cos β

where v_x is the lateral velocity, and V is the velocity of the vehicle.

4. The method of claim 2 wherein the lateral velocity is determined by the following formula:

v_y=|V|sin β

where v_y is the longitudinal velocity, and V is the velocity of the vehicle.

5. The method of claim 1 wherein the longitudinal orientation of the vehicle body is measured using a digital magnetic compass.

6. The method of claim 1 wherein the predetermined point used to determine direction of travel includes a reference vector pointing due North.

9. The method of claim 2 wherein the lateral velocity is determined by the following formula:

v_x=|V|cos β

where v_x is the lateral velocity, and V is the velocity vector.

10. The method of claim 2 wherein the lateral velocity is determined by the following formula:

v_y=|V|sin β

where v_y is the longitudinal velocity, and V is the velocity vector.

7. A method for determining a lateral velocity and a longitudinal velocity of a vehicle equipped, the vehicle including only one antenna for a GPS receiver and a magnetic compass, the method comprising the steps of:

determining a magnitude of a velocity vector of the vehicle;

determining a course angle with respect to a fixed reference using the single antenna GPS receiver;

measuring a yaw angle of the vehicle with respect to the fixed reference using a magnetic compass;

calculating a side slip angle as a function of the course angle and the yaw angle; and

determining the lateral velocity and longitudinal velocity as a function of the magnitude of the velocity vector and the side slip angle.

8. The method of claim 7 wherein the side slip angle is determined as a function of the course angle and the yaw angle, the side slip angle being represented by the following formula:

β

=γ

−

ψ

where β

is the side slip angle, γ

is the course angle, and ψ

is the yaw angle of the vehicle body.

11. A vehicle dynamic control system for determining vehicle dynamic parameters for a vehicle, the system comprising:

a global positioning system (GPS) receiver having only a single antenna, the GPS receiver receiving course angle data of the vehicle;

a magnetic compass for providing yaw angle data of the vehicle; and

a controller determining a side slip angle in response to the yaw angle data and the course angle data;

wherein the controller determines a longitudinal velocity and a lateral velocity as a function of the side slip angle.

12. The system of claim 11 wherein the magnetic compass is integrated with the GPS receiver.

13. The system of claim 11 further comprising a speed sensor for providing speed data to the controller for determining the longitudinal velocity and the lateral velocity.

14. The system of claim 11 where the GPS receiver determines a vehicle speed.

15. The system of claim 11 wherein the controller determines a slide slip angle of the vehicle utilizing the following formula:

β

=γ

−

ψ

where β

is the side slip angle, γ

is the azimuth angle of the velocity vector, and ψ

is the azimuth angle of the vehicle body.

16. The system of claim 15 wherein the lateral velocity is determined by the controller using the following formula:

v_x=|V|cos β

where v_x is the lateral velocity, and V is the velocity of the vehicle.

17. The system of claim 15 wherein the longitudinal velocity is determined by the controller using the following formula:

v_y=|V|sin β

where v_y is the longitudinal velocity, and V is the velocity of the vehicle.

18. The system of claim 11 wherein the magnetic compass is a digital magnetic compass.