GPS-Enhanced Vehicle Velocity Estimation
First Claim
1. A method of estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS), the method comprising the steps of:
- measuring an absolute speed and a course heading angle of the vehicle using the single-antenna GPS;
measuring yaw rates of the vehicle independently of the GPS;
calculating an integrated yaw rate of the vehicle as a function of the measured yaw rates over a period of time;
determining a yaw angle as a function of an initialized yaw angle and the integrated yaw rate;
calculating a side slip angle as a function of the yaw angle and the course heading angle provided by the GPS;
determining the vehicle velocity as a function of the absolute speed and the side slip angle; and
providing the vehicle velocity to a vehicle dynamic control application.
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Abstract
A method is provided for estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS). An absolute speed and a course angle of the vehicle is measured using the single-antenna GPS. The yaw rates of the vehicle are measured independently of the GPS. An integrated yaw rate of the vehicle is calculated as a function of the measured yaw rates over a period of time. A yaw angle is determined as a function of a reference yaw angle and the integrated yaw rate. Aside slip angle is calculated as a function of the estimated yaw angle and the course angle provided by the GPS. The vehicle velocity is determined as a function of the absolute speed and the side slip angle. The vehicle velocity is provided to a vehicle dynamic control application.
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Citations
20 Claims
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1. A method of estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS), the method comprising the steps of:
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measuring an absolute speed and a course heading angle of the vehicle using the single-antenna GPS; measuring yaw rates of the vehicle independently of the GPS; calculating an integrated yaw rate of the vehicle as a function of the measured yaw rates over a period of time; determining a yaw angle as a function of an initialized yaw angle and the integrated yaw rate; calculating a side slip angle as a function of the yaw angle and the course heading angle provided by the GPS; determining the vehicle velocity as a function of the absolute speed and the side slip angle; and providing the vehicle velocity to a vehicle dynamic control application. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for determining a vehicle velocity for a vehicle comprising:
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a single-antenna global positioning system (GPS) for providing an absolute speed and a course heading angle of the vehicle; vehicle sensors for providing yaw rate measurements independent of the GPS; and a processor for calculating an integrated yaw rate, a yaw angle a side slip angle, and a vehicle velocity; wherein integrated yaw rate of the vehicle is determined as a function of the measured yaw rates over a period of time, wherein the yaw angle is determined as a function of a re-initialized yaw angle and the integrated yaw rate, wherein the side slip angle is determined as a function of the determined yaw angle and the course angle provided by the GPS, wherein the vehicle velocity is determined as a function of the absolute speed and the side slip angle, and wherein the vehicle velocity is provided to a vehicle dynamic control application.
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Specification