NAVIGATION SYSTEM AND METHOD

• US 20140060949A1
• Filed: 08/30/2013
• Published: 03/06/2014
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Autonomous Tractor Corporation
• Original Assignee: Autonomous Tractor Corporation
• Inventors: Anderson, Terry, Cornelius, Robert S., Artner, Frank
• Granted Patent: US 9,063,211 B2
• Time in Patent Office: Days
• US Class Current: 180/167
• CPC Class Codes: G01C 21/04 by terrestrial means G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 1/022 Means for monitoring or calibrating
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: Y10S 903/902 Prime movers comprising electrical and internal combustion motors

Abstract

A navigation system and associate methods are described that include a plurality of fixed terrestrial based reference devices that calibrate the system by tracking positional error between the fixed terrestrial based reference devices. A navigation system and associated methods are also described that include a laser positioning system. A navigation system and associated methods are described that include an RF positioning system. In one example, the laser positioning system, and the RF positioning system cross check one another to ensure reliability and accuracy of a position measurement.

Claims

1. A vehicle navigation system, comprising:

at least two vehicle mounted radio frequency transceivers spaced apart from one another on a vehicle;

a plurality of reference devices to place at a plurality of fixed terrestrial reference locations, to define a circumference of a navigation area, wherein each reference device includes a fixed radio frequency transceiver to interact with the vehicle mounted radio frequency transceivers and with the other reference devices of the plurality of reference devices; and

a calibration system located on the plurality of reference devices, wherein a location error between the plurality of reference devices is tracked and used to calibrate actual locations of the plurality of reference devices and the at least two vehicle mounted radio frequency transceivers within the navigation area.

2. The vehicle navigation system of claim 1, wherein the vehicle mounted radio frequency transceivers and the fixed radio frequency transceivers include VHF transceivers.

3. The vehicle navigation system of claim 2, wherein the vehicle mounted radio frequency transceivers and the fixed radio frequency transceivers operate at approximately 150 MHz.

4. The vehicle navigation system of claim 1, wherein the plurality of reference devices are solar powered.

5. The vehicle navigation system of claim 1, wherein the plurality of reference devices include focused radio frequency antennae.

6. A vehicle navigation system, comprising:

a laser positioning system, including a laser mounted on a vehicle, and a stationary reflector mounted in at least one reference location;

a radio frequency positioning system, including a clock to time radio signals between a transceiver mounted on the vehicle, and the at least one reference location, wherein the laser positioning system is configured to calibrate the radio frequency positioning system; and

a plurality of reference devices to place at fixed locations adjacent to a navigation area, wherein each reference device includes a laser reflector to interact with a laser on the vehicle, and a radio frequency transponder to interact with a radio frequency transceiver on the vehicle.

7. The vehicle navigation system of claim 6, wherein the plurality of reference devices are solar powered.

8. The vehicle navigation system of claim 6, wherein the radio frequency positioning system operates at approximately 150 MHz.

9. The vehicle navigation system of claim 6, wherein the plurality of reference devices include focused radio frequency antennae.

10. An autonomous vehicle, comprising:

a diesel electric power supply coupled to a vehicle frame;

a number of electric motor powered drive wheels mounted to the frame, and electrically coupled to the diesel electric power supply;

a pair of track belts running over the drive wheels on sides of the vehicle frame;

a laser positioning system, including a laser mounted on a vehicle, and a stationary reflector mounted in at least one reference location; and

a radio frequency positioning system, including a clock to time radio signals between a transceiver mounted on the vehicle, and the at least one reference location, wherein the laser positioning system is configured to calibrate the radio frequency positioning system.

11. The autonomous vehicle of claim 10, further including a pair of diesel electric power supplies.

12. The autonomous vehicle of claim 10, wherein each drive wheel has an electric motor mounted substantially within a hub of the drive wheel.

13. The autonomous vehicle of claim 10, including four independent drive wheels with an electric motor mounted substantially within a hub of the drive wheel.

14. A method of navigating an autonomous vehicle, comprising:

sending a radio frequency signal from a transceiver on a vehicle to two or more transceivers on corresponding two or more land based fixed reference devices;

detecting a returned signal from the two or more transceivers and calculating a radio frequency referenced vehicle position with respect to the land based fixed reference devices;

sending a laser beam from a laser source mounted on the vehicle to check for potential obstacles in a path of the vehicle; and

processing laser based data and radio frequency data to determine vehicle navigation parameters.

15. The method of claim 14, wherein sending a radio frequency signal includes sending a VHF signal.

16. A method, comprising:

sending and receiving a radio frequency signal between multiple fixed terrestrial reference transceivers;

tracking an error in distance over time between the multiple fixed terrestrial reference transceivers, and calibrating a location system using the tracked error data;

sending and receiving a radio frequency signal between at least two vehicle based transceivers and the multiple fixed terrestrial reference transceivers to determine location and orientation of a vehicle within an area defined by the multiple fixed terrestrial reference transceivers.

17. The method of claim 16, wherein sending a radio frequency signal between multiple fixed terrestrial reference transceivers includes sending a VHF signal.

18. The method of claim 16, further including sending a vehicle identification code along with the radio frequency signal.