Method and apparatus for determining the location of a vehicle

• US 5,483,455 A
• Filed: 01/11/1995
• Issued: 01/09/1996
• Est. Priority Date: 09/08/1992
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: League, Richard B., Allen, William E., Kemner, Carl A., Lay, Norman K., Peterson, Joel L.
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US08/371,657
• Time in Patent Office: 363 Days
• Field of Search: 364/448, 364/424.02, 364/450, 364/449, 364/461, 364/571.02, 180/167, 180/168, 180/169
• US Class Current: 701/206
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• 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 13/881 for robotics
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders

Abstract

Vehicle navigation systems typically include devices for determining the location of the vehicle. In many situations it is advantageous to improve the resolution of such devices or to provide a back-up system for determining vehicle location. Simple and efficient systems are also desirable when used as the primary positioning systems. The subject invention provides a simple and efficient system for determining the location of a vehicle in a base reference frame. One or more targets are located at predefined positions with respect to the base reference frame. A target sensing device determines a position of one of the one or more targets with respect to the vehicle. A device determines an estimated vehicle position. A vehicle locating device determines the location of the vehicle with respect to the base reference frame in response to the position of the target with respect to the vehicle and the estimated vehicle position.

Claims

1. An apparatus for determining the location of a vehicle in a base reference frame having three-dimensions, comprising:

a target being located at a predefined fixed position with respect to the three-dimensional base reference frame;

radar sensing means for delivering electromagnetic millimeter wave radiation and receiving a reflection of said electromagnetic millimeter wave radiation, said radar sensing means being connected to said vehicle;

means for determining a measured location in three dimensional space of said target within a preselected field of view of said radar sensing means based on the received reflection;

means for delivering global positioning signals from a remote location;

incremental position sensing means for sensing the orientation of the vehicle at a current vehicle position in three-dimensional space within the base reference frame and delivering an orientation signal, said incremental position sensing means being mounted on the vehicle;

means for receiving said global position and orientation signals and estimating a current vehicle position in three-dimensional space within the base reference frame based on said global positioning and orientation signals;

vehicle positioning means for correcting the estimated current vehicle position with respect to the three-dimensional base reference frame based on the location of said target within the field of view of said radar sensing means and the orientation of said vehicle.

2. An apparatus, as set forth in claim 1, wherein said incremental position means includes an inertial reference unit.

3. An apparatus, as set forth in claim 1, wherein the orientation determined by said incremental position sensing means includes roll, pitch, and yaw of the vehicle.

4. An apparatus, as set forth in claim 1, wherein said means for estimating a current vehicle position includes means for determining an initial vehicle position, said incremental position determining means senses changes in the three-dimensional position and orientation of the vehicle, and said vehicle positioning means includes means for calculating current and previous estimated target locations in response to said vehicle being at said current vehicle position and orientation.

5. An apparatus, as set forth in claim 4, wherein said vehicle positioning means includes means for comparing said estimated and measured target locations.