AUGMENTED VEHICLE LOCATION SYSTEM
First Claim
1. A system comprising:
- a mobile vehicle;
a global positioning system (GPS) based vehicle position and heading system supported on the vehicle measures global easting and global northing (measured position) of the vehicle, and determines a heading (measured heading) of the vehicle;
at least one two-dimensional (2D) velocity sensor measures the velocity of the vehicle with respect to the ground, over which the vehicle travels, in two orthogonal directions (measured velocity);
a yaw rate system supported on the vehicle measures a yaw rate of the vehicle (yaw rate measurement); and
a vehicle position and heading estimator comprising at least one processor that computes a position of the vehicle (estimated position) and a heading of the vehicle (estimated heading) based on the measured position, the measured heading, the measured velocity and the yaw rate measurement.
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Accused Products
Abstract
A system comprises a mobile vehicle, a global positioning system (GPS) based vehicle position and heading system, at least one two-dimensional (2D) velocity sensor, a yaw rate system, and a vehicle position and heading estimator. The GPS based vehicle position and heading system is supported on the vehicle and measures global easting and global northing (measured position) of the vehicle, and determines a heading (measured heading) of the vehicle. The 2D velocity sensor measures the velocity of the vehicle with respect to the ground, over which the vehicle travels, in two orthogonal directions (measured velocity). The yaw rate system is supported on the vehicle and measures a yaw rate of the vehicle (yaw rate measurement). The vehicle position and heading estimator comprises at least one processor that computes a position of the vehicle (estimated position) and a heading of the vehicle (estimated heading) based on the measured position, the measured heading, the measured velocity and the yaw rate measurement.
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Citations
20 Claims
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1. A system comprising:
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a mobile vehicle; a global positioning system (GPS) based vehicle position and heading system supported on the vehicle measures global easting and global northing (measured position) of the vehicle, and determines a heading (measured heading) of the vehicle; at least one two-dimensional (2D) velocity sensor measures the velocity of the vehicle with respect to the ground, over which the vehicle travels, in two orthogonal directions (measured velocity); a yaw rate system supported on the vehicle measures a yaw rate of the vehicle (yaw rate measurement); and a vehicle position and heading estimator comprising at least one processor that computes a position of the vehicle (estimated position) and a heading of the vehicle (estimated heading) based on the measured position, the measured heading, the measured velocity and the yaw rate measurement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of estimating a vehicle position comprising:
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moving a mobile vehicle; performing global positioning system (GPS) based measurements at a first frequency using at least one GPS receiver and at least one antenna supported on the vehicle including measuring a position of the vehicle (measured position) and a heading of the vehicle (measured heading); and between successive GPS based measurements, estimating, at a second frequency that is greater than the first frequency, a position of the vehicle (estimated position) based on the measured position, the measured heading, a two-dimensional (2D) velocity measurement of the vehicle (measured velocity) and a yaw rate measurement of the vehicle, using at least one processor supported on the vehicle. - View Dependent Claims (13, 14, 15)
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16. A method of estimating a vehicle position comprising:
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providing a system comprising; a mobile vehicle; a global positioning system (GPS) supported on the mobile vehicle; a heading system supported on the mobile vehicle; at least one two-dimensional (2D) velocity sensor supported on the vehicle; a yaw rate system supported on the vehicle; and a vehicle position and heading estimator supported on the vehicle comprising at least one processor; moving the mobile vehicle; calculating global easting and global northing of the vehicle (measured position) using the GPS calculating a heading of the vehicle (measured heading) using the heading system; measuring a velocity of the vehicle in two orthogonal directions (measured velocity) using the 2D velocity sensor; measuring a yaw rate of the vehicle (measured yaw rate) using the yaw rate system; computing an estimated position of the vehicle based on the measured position, the measured heading, the measured velocity and the measured yaw rate using the at least one processor. - View Dependent Claims (17, 18, 19, 20)
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Specification