Sensory system for vehicle navigation
First Claim
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1. An improved accuracy sensory system for vehicle navigation comprising:
- first means for sensing a navigation parameter of a vehicle and for providing a first signal indicative of said navigation parameter;
second means for sensing said navigation parameter of the vehicle and for providing a second signal indicative of said navigation parameter;
means for classifying a difference between said first signal and said second signal into a plurality of sets representative of predetermined behaviors; and
means for providing a clearness coefficient for the first signal dependent on a degree of participation of the difference between the first and second signals in each of the plurality of sets.
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Abstract
An improved accuracy sensory system for vehicle navigation employs a sensor, such as a compass (515), or an odometer (509), for sensing a navigation parameter of a vehicle. A signal is provided from the sensor, having an erroneous component. A model free recognizer, such as a fuzzy inferencing navigation computer (501), is employed to recognize this erroneous behavior. After recognition, the sensor can be recalibrated, or assigned a clearness coefficient. The signal is then combined with other measurements of the same parameter and subjected to map matching before deriving the final navigation variable.
64 Citations
5 Claims
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1. An improved accuracy sensory system for vehicle navigation comprising:
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first means for sensing a navigation parameter of a vehicle and for providing a first signal indicative of said navigation parameter; second means for sensing said navigation parameter of the vehicle and for providing a second signal indicative of said navigation parameter; means for classifying a difference between said first signal and said second signal into a plurality of sets representative of predetermined behaviors; and means for providing a clearness coefficient for the first signal dependent on a degree of participation of the difference between the first and second signals in each of the plurality of sets. - View Dependent Claims (2)
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3. A method of an improved accuracy sensory system for vehicle navigation comprising the steps of:
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sensing a navigation parameter of a vehicle and for providing a first signal indicative of said navigation parameter; sensing said navigation parameter of the vehicle and for providing a second signal indicative of said navigation parameter; classifying a difference between the first signal and the second signal into a plurality of sets representative of predetermined behaviors; and providing a clearness coefficient for the first signal dependent on a degree of participation of the difference between the first and second navigation parameters in each of the plurality of sets.
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4. An improved accuracy sensory method for vehicle navigation, the method comprising:
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sensing a heading of a vehicle and for providing a first heading in response thereto; sensing another heading of a vehicle and for providing a second heading in response thereto; classifying a difference between the first and second headings into a plurality of sets representative of predetermined behaviors; providing a clearness coefficient for the first heading dependent on a degree of participation of the difference between the first and second headings in each of the plurality of sets; and deriving a fused heading variable indicative of a heading of the vehicle by combining the first heading, dependent on the clearness coefficient, and the second heading.
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5. An improved accuracy sensory system for vehicle navigation comprising:
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a compass providing a compass heading signal; an odometer providing an odometer heading signal and an odometer distance traversed signal, wherein both the odometer heading signal and the odometer distance traversed signal are determined dependent on a left wheel and a right wheel calibration factor; a GPS receiver providing a GPS distance traversed signal; means for classifying a difference in distance traversed between the odometer distance traversed signal and the GPS distance traversed signal into a plurality of distance traversed sets representative of predetermined behaviors, and for classifying a difference in heading between the compass heading signal and the odometer heading signal into a plurality of heading sets representative of predetermined behaviors; and means for providing a left wheel and a right wheel calibration factor to the odometer dependent on a degree of participation of the difference in distance traversed in each of the plurality of distance traversed sets and a degree of participation of the difference in heading in each of the plurality of heading sets.
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Specification