Vehicle navigation system provided with an adaptive inertial navigation system based on the measurement of the speed and lateral acceleration of the vehicle and provided with a correction unit for correcting the measured values
First Claim
1. A navigation system for a road vehicle comprising:
- a measuring unit including a speedometer and an accelerometer for measuring lateral acceleration of the vehicle, a communication unit connected to a central unit for the input of a starting position and a destination and for displaying on a display means a driving route between the starting position and destination, said central unit comprising a mass storage device for storing geographic data of a road network, a control unit and position-locating means and all connected to a common communication line, said central unit including a route-determining unit for determining a driving route between said starting point and the destination by use of the geographic data in the mass storage device, said position-locating means having a first input connected to an output of the measuring unit for receiving measurement data so as to determine from the measurement data, after receiving the starting position, successive vehicle position coordinates and the driving direction of a moving vehicle, and wherein the position-locating means generate recurrently from received measured lateral acceleration and speed of the vehicle successive vehicle position coordinates and driving direction of the moving vehicle.
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Abstract
A navigation system for a road vehicle comprises a route-determining unit and position-locating means. The route-determining unit works together with a mass memory which stores geographic data of a road network. The route-determining unit determines a driving route between a starting point and a destination supplied by the driver of the vehicle. The position-locating devices determine the vehicle position coordinates recurrently from the speed and acceleration of the moving vehicle provided by a measuring unit. A correction unit derives a correction vector for correcting the generated vehicle position coordinates. The correction vector is determined by performing a transposition of the generated vehicle position coordinates to an actual road position as repeated by coordinates of the road network stored in the mass memory. An acceleration operator is derived from the measured speed and lateral acceleration and from the generated vehicle position coordinates. The acceleration operator operates on the correction vector in order to derive a correction value for the measured acceleration. A receiver receives position coordinate signal from a navigation satellite. A Kalman filter mixes the vehicle position coordinates with the position coordinates originating from the navigation satellite.
196 Citations
17 Claims
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1. A navigation system for a road vehicle comprising:
- a measuring unit including a speedometer and an accelerometer for measuring lateral acceleration of the vehicle, a communication unit connected to a central unit for the input of a starting position and a destination and for displaying on a display means a driving route between the starting position and destination, said central unit comprising a mass storage device for storing geographic data of a road network, a control unit and position-locating means and all connected to a common communication line, said central unit including a route-determining unit for determining a driving route between said starting point and the destination by use of the geographic data in the mass storage device, said position-locating means having a first input connected to an output of the measuring unit for receiving measurement data so as to determine from the measurement data, after receiving the starting position, successive vehicle position coordinates and the driving direction of a moving vehicle, and wherein the position-locating means generate recurrently from received measured lateral acceleration and speed of the vehicle successive vehicle position coordinates and driving direction of the moving vehicle.
- View Dependent Claims (2, 3, 4, 5, 6)
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7. A road vehicle navigation device comprising:
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(a) a measuring unit comprising an accelerometer for measuring lateral acceleration of the vehicle and a speedometer, and a first output for supplying measured lateral acceleration signal values and speed signal values; (b) a communication unit which includes input means for inputting a starting position and a destination and display means for displaying at least parts of a driving route between said starting position and said destination; and (c) a central unit comprising a mass storage device, a control unit, position-locating means and a route-determining unit and all connected to a communication line, said position-locating means being connected to said communication unit for receiving said starting position and to said first output of said measuring unit, said position-locating means being enabled upon reception of said starting position for generating, recurrently, based on said measured speed signal values and lateral acceleration signal values, successive vehicle position coordinates and the driving direction of the moving vehicle, said route-determining unit being connected to said communication unit for determining, under control of said control unit, driving route data between said starting position and said destination by using geographic data of a road network stored in said mass storage device, and means for supplying said driving route data to said display means. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification