Method and device for target tracking of land vehicles

• US 4,633,407 A
• Filed: 05/14/1984
• Issued: 12/30/1986
• Est. Priority Date: 11/06/1982
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Pilsak, Otmar, Schlogl, Dietmar, Neukirchner, Ernst Peter, Freienstein, Bernd
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/616,230
• Time in Patent Office: 960 Days
• Field of Search: 364/424, 364/447, 364/449, 364/450, 364/457, 364/571, 340/988, 340/992
• US Class Current: 701/217
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 22/02 by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator G01C22/002, G01C22/004, G01C22/006 take precedence
• CPC Class Codes: G01C 22/025 Differential odometers
• CPC Class Codes: G06K 15/00 Arrangements for producing a permanent visual presentation of the output data , e.g. computer output printersprinting or plotting combined with another operation, e.g. with conveying, G06K17/00
• CPC Class Codes: G06K 2215/0088 Collated printing

Abstract

A method and a device for target tracking of land vehicles are suggested, in particular for use in heavily meshed city road systems. Thereby, a motor vehicle device is used with an input device for a desired target location and an output device for vehicle instructions. The vehicle location (determination of travel path and travel direction) is carried out by picking up and evaluating the wheel rotations of a nondriven vehicle axis.

Claims

1. A method of tracking position of a land vehicle by means of a planimetric dead reckoning navigation whereby the travel path and the travel direction are ascertained by detecting and evaluating information about rotations of two wheels on a vehicle axis, comprising the steps of preparing for a particular type of the vehicle a set of correction factors, selecting a corresponding correction factor based on the sum of rotations of one of said two wheels, the difference between the rotations of said two wheels, and the time required for detecting and evaluating said rotations;

and defining an actual travel direction of said vehicle by correcting the ascertained travel direction by said corresponding correction factor.

2. A device for tracking position of a land vehicle by means of a planimetric dead reckoning navigation, comprising two impulse transmitters for detecting rotations of two wheels on a vehicle axis, a computing device for evaluating signals from said impulse transmitters and computing the travel path and the travel direction from the evaluated signals;

a timer for counting the time of the detection evaluation of said signals; and

means for storing a set of predetermined factors; and

correction means for selecting a corresponding correction factor in said set based on the three variables corresponding to the sum of rotations of one of said wheels, the difference between the rotations of said wheels and the time required for the detection and evaluation of said rotations;

said correction means corrects the computed travel direction by said selected corresponding correction factor.

3. A device as defined in claim 2 wherein said storing means includes a ROM connected to said computing device and storing a three dimensional matrix of said correction factors arranged according to said three variables.