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VEHICLE NAVIGATION ON THE BASIS OF SATELLITE POSITIONING DATA AND VEHICLE SENSOR DATA

  • US 20130035855A1
  • Filed: 08/03/2012
  • Published: 02/07/2013
  • Est. Priority Date: 08/03/2011
  • Status: Active Grant
First Claim
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1. A method for vehicle navigation, comprising:

  • obtaining satellite positioning data from a satellite positioning device of a vehicle;

    obtaining vehicle sensor data from a number of sensors of the vehicle; and

    combining the satellite positioning data and the vehicle sensor data by a Kalman filter to obtain a combined state vector estimate of the vehicle;

    wherein the Kalman filter comprisesa first filter which receives the satellite positioning data and generates a first state vector estimate of the vehicle and a corresponding first state error covariance matrix,a second filter which receives the vehicle sensor data and generates a second state vector estimate of the vehicle and a corresponding second state error covariance matrix, anda third filter which receives the first state vector estimate, the first state error covariance matrix, the second state vector estimate, and the second state error covariance matrix and generates the combined state vector estimate and a corresponding combined state error covariance matrix,wherein the third filter comprises a prediction processor which generates a predicted state vector estimate on the basis of the combined state vector estimate and a predicted state error covariance matrix on the basis of the combined state error covariance matrix, andwherein the predicted state vector estimate and the predicted state error covariance matrix are fed back to the first filter, the second filter, and the third filter.

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