CURRENT POSITION DETECTOR FOR VEHICLE
First Claim
1. A current position detector for a vehicle comprising:
- an angular speed sensor for outputting an angular speed signal corresponding to a rotation angular speed of the vehicle;
a speed sensor of outputting a speed signal corresponding to a traveling speed of the vehicle;
a GPS receiver for receiving an electric wave from a GPS satellite and for outputting a GPS signal, which provides to specify an absolute position and an heading of the vehicle;
a traveling trajectory estimating element for estimating a relative trajectory of the vehicle based on an orientation change amount and a traveling distance, and for estimating a traveling trajectory of the vehicle based on the relative trajectory of the vehicle and the GPS signal, wherein the orientation change amount is calculated from the angular speed signal, and the traveling distance is calculated from the speed signal; and
an error estimating element for estimating each error of the angular speed signal, the speed signal and the GPS signal with using a difference between the relative trajectory, the traveling trajectory and the GPS signal as an observation value, and for correcting each error of the angular speed signal, the speed signal and the GPS signal based on estimated corresponding error,wherein the error estimating element estimates a gain error of the angular speed signal in such a manner that an attachment angle gain error attributed to an attachment angle of the angular speed sensor to the vehicle and an angular speed gain error attributed to a non-linear gain property of the angular speed sensor with respect to the angular speed are independently estimated.
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Abstract
A current position detector for a vehicle includes: an angular speed sensor; a speed sensor; a GPS receiver; a traveling trajectory estimating element for estimating a relative trajectory based on an orientation change amount and a traveling distance, and for estimating a traveling trajectory based on the relative trajectory and a GPS signal; and an error estimating element for estimating and correcting each error of an angular speed signal, a speed signal and the GPS signal. The error estimating element estimates a gain error of the angular speed signal such that an attachment angle gain error attributed to an attachment angle of the angular speed sensor and an angular speed gain error attributed to a non-linear gain property of the angular speed sensor are independently estimated.
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Citations
7 Claims
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1. A current position detector for a vehicle comprising:
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an angular speed sensor for outputting an angular speed signal corresponding to a rotation angular speed of the vehicle; a speed sensor of outputting a speed signal corresponding to a traveling speed of the vehicle; a GPS receiver for receiving an electric wave from a GPS satellite and for outputting a GPS signal, which provides to specify an absolute position and an heading of the vehicle; a traveling trajectory estimating element for estimating a relative trajectory of the vehicle based on an orientation change amount and a traveling distance, and for estimating a traveling trajectory of the vehicle based on the relative trajectory of the vehicle and the GPS signal, wherein the orientation change amount is calculated from the angular speed signal, and the traveling distance is calculated from the speed signal; and an error estimating element for estimating each error of the angular speed signal, the speed signal and the GPS signal with using a difference between the relative trajectory, the traveling trajectory and the GPS signal as an observation value, and for correcting each error of the angular speed signal, the speed signal and the GPS signal based on estimated corresponding error, wherein the error estimating element estimates a gain error of the angular speed signal in such a manner that an attachment angle gain error attributed to an attachment angle of the angular speed sensor to the vehicle and an angular speed gain error attributed to a non-linear gain property of the angular speed sensor with respect to the angular speed are independently estimated. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification