Method for monitoring integrity of an integrated GPS and INU system

• US 5,906,655 A
• Filed: 04/02/1997
• Issued: 05/25/1999
• Est. Priority Date: 04/02/1997
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Fan, Zhejun
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/832,592
• Time in Patent Office: 783 Days
• Field of Search: 701/213, 701/214, 701/216, 701/220, 701/117, 701/2, 701/24, 342/357, 342/457
• US Class Current: 701/216
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 19/23 Testing, monitoring, correcting or calibrating of receiver elements
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method for monitoring the integrity of an integrated positioning system located on a mobile machine is provided. The integrated positioning system includes a GPS receiver and an inertial navigation unit (INU). The INU includes an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine. The method includes the steps of receiving a GPS position estimate from a GPS receiver, receiving an INU position estimate from an inertial navigation unit, and comparing the GPS position estimate and the INU position estimate. If the two position estimates are the same, then the system is VALID. Otherwise, the velocity of the mobile machine as determined by the odometer and velocity as determined by the Doppler radar are compared. If the difference is greater than a first predetermined threshold, then the INU is determined to be INVALID. Otherwise a heading rate from gyroscope is compared with a calculated heading rate based on measured steering angle and velocity. If the difference is greater than a second predetermined threshold, then the INU is INVALID, otherwise the GPS is INVALID.

Claims

1. A method for monitoring the integrity of an integrated positioning system located on a mobile machine, the integrated positioning system including a GPS receiver and an inertial navigation unit (INU), the INU including an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine, including the steps of:

a) receiving a GPS position estimate from a GPS receiver;

b) receiving an INU position estimate from an inertial navigation unit;

c) comparing the GPS position estimate and the INU position estimate, if same then system determined VALID, otherwise, proceed to step d);

d) comparing velocity of mobile machine as determined by the odometer and velocity as determined by the Doppler radar, if difference is greater than a first predetermined threshold, then the INU is INVALID, otherwise proceed to step e); and

e) comparing heading rate from gyroscope with a calculated heading rate based on measured steering angle and velocity, if difference if greater than a second predetermined threshold, then the INU is INVALID, otherwise the GPS is INVALID.

2. A method, as set forth in claim 1, including the step of updating a position estimate determined by a Kalman filter located in said integrated positioning system, said Kalman filter position estimate being updated by at least one of said GPS and INU in response to the respective at least one GPS and INU being VALID.

3. A method, as set forth in claim 1, including the steps of:

comparing a current GPS INVALID determination to a previous GPS INVALID determination;

determining a condition of GPS fault existing in response to GPS INVALID determinations being greater than a third predetermined threshold;

stopping said mobile machine in response to said condition of GPS fault existing; and

delivering a warning signal to a fleet manager.

4. A method, as set forth in claim 1, including the steps of:

comparing a current INU INVALID determination to a previous INU INVALID determination;

determining a condition of INU fault existing in response to INU INVALID determinations being greater than a fourth predetermined threshold;

stopping said mobile machine in response to said condition of INU fault existing; and

delivering a warning signal to a fleet manager.

5. A method, as set forth in claim 1, including the steps of:

comparing an INU error bound to a predetermined allowable system accuracy; and

stopping said mobile machine in response to both said error bound being greater than said system accuracy and the GPS being INVALID.

6. A method for monitoring the integrity of an integrated positioning system located on a mobile machine, the integrated positioning system including a GPS receiver and an inertial navigation unit (INU), the INU including an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine, including the steps of:

a) receiving a GPS position estimate from a GPS receiver;

b) receiving an INU position estimate from an inertial navigation unit;

c) comparing the GPS position estimate and the INU position estimate, if same then system determined VALID, otherwise, proceed to step d);

d) receiving a signal from the odometer and responsively determining a first velocity estimate of the mobile machine;

e) receiving a signal from the Doppler radar and responsively determining a second velocity estimate of the mobile machine;

f) comparing the first and second velocity estimates, determining that the INU is INVALID if the difference between the first and second velocity estimates is greater than a first predetermined threshold, otherwise proceed to step g);

g) receiving a first heading rate estimate from the gyroscope;

h) receiving a signal from the steering angle sensor and one of the first and second velocity estimates and responsively determining a second heading rate estimate;

i) comparing the first and second heading rate estimates, determining that the INU is INVALID if the difference between the first and second heading rate estimates is greater than a second predetermined threshold, otherwise, determining that GPS is INVALID.

7. A method, as set forth in claim 6, including the step of updating a position estimate determined by a Kalman filter located in said integrated positioning system, said Kalman filter position estimate being updated by at least one of said GPS and INU in response to the respective at least one GPS and INU being VALID.

8. A method, as set forth in claim 6, including the steps of:

comparing a current GPS INVALID determination to a previous GPS INVALID determination;

determining a condition of GPS fault existing in response to GPS INVALID determinations being greater than a third predetermined threshold;

stopping said mobile machine in response to said condition of GPS fault existing; and

delivering a warning signal to a fleet manager.

9. A method, as set forth in claim 6, including the steps of:

comparing a current INU INVALID determination to a previous INU INVALID determination;

determining a condition of INU fault existing in response to INU INVALID determinations being greater than a fourth predetermined threshold;

stopping said mobile machine in response to said condition of INU fault existing; and

delivering a warning signal to a fleet manager.

10. A method, as set forth in claim 6, including the steps of:

comparing an INU error bound to a predetermined allowable system accuracy; and

stopping said mobile machine in response to both said error bound being greater than said system accuracy and the GPS being INVALID.