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VEHICLE POSITIONING BY MAP MATCHING AS FEEDBACK FOR INS/GPS NAVIGATION SYSTEM DURING GPS SIGNAL LOSS

  • US 20160146616A1
  • Filed: 11/21/2014
  • Published: 05/26/2016
  • Est. Priority Date: 11/21/2014
  • Status: Abandoned Application
First Claim
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1. A vehicle positioning method for a navigation system established on a smartphone with use of vehicle sensors, comprising the following steps of:

  • integrating, by using a processor, an inertial navigation system (INS) incorporating vehicle sensors with a map and navigation system implemented on a smartphone with use of an integration Kalman filter;

    producing vehicle'"'"'s position estimates by the INS based on the acceleration and angular rate measurements from the vehicle sensors;

    producing position estimates indicating an absolute position of the vehicle by the map and navigation system which receives GPS satellite signals;

    detecting whether the estimated vehicle position has reached an entry point of a tunnel or has reached a point before the entry point of the tunnel by a predetermined threshold distance;

    when the estimated vehicle position has reached said either one of points, immediately starting a map matching operation for matching a current vehicle position with a road link of the tunnel derived from a map database; and

    performing a Kalman filter processing by the integration Kalman filter on the position estimates of the INS and the current vehicle position obtained by the map matching operation thereby correcting errors caused by the vehicle sensors.

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