Orientation and navigation device with satellite support
First Claim
Patent Images
1. An orientation and navigation device for a vehicle, comprising:
- at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor;
a memory for storing map data;
a display device;
a satellite receiver determining a satellite-based position finding; and
a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit including an arrangement determining a variation range of the satellite-based position finding, the arrangement including a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and a vehicle speed, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit(i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor,(ii) comparing the dead-reckoning to the variation range,(iii) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and(iv) displaying the vehicle position as a current position on the display device.
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Abstract
An orientation and navigation device provides for a current vehicle position to be displayed on a map. To make corrections in the event of loss of orientation, a satellite receiver is employed, which calculates a new vehicle position from the received satellite data and bases the dead reckoning on this new vehicle position. Since the calculated satellite orientation position is encumbered with a variation range, an optimization is performed by means of a low-pass filter and empirically determined values.
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Citations
41 Claims
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1. An orientation and navigation device for a vehicle, comprising:
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at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor; a memory for storing map data; a display device; a satellite receiver determining a satellite-based position finding; and a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit including an arrangement determining a variation range of the satellite-based position finding, the arrangement including a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and a vehicle speed, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit (i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor, (ii) comparing the dead-reckoning to the variation range, (iii) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and (iv) displaying the vehicle position as a current position on the display device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A process for performing orientation and navigation of a vehicle, comprising the steps of:
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determining a dead-reckoning vehicle position from at least one signal produced by at least one dead-reckoning sensor; computing a vehicle position based on the dead-reckoning vehicle position; determining a satellite-based position finding from a signal produced by a satellite receiver; determining a variation range of the satellite-based position finding using a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and a vehicle speed; comparing the dead-reckoning vehicle position to the variation range; when the dead-reckoning vehicle position is outside the variation range, setting the vehicle position to the satellite-based position finding, performing a plausibility check by a map-matching, and setting the vehicle position to a current position on a street; and displaying the vehicle position as a current position on a display device.
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12. An orientation and navigation device for a vehicle, comprising:
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at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor; a memory for storing map data; a display device; a satellite receiver determining a satellite-based position finding; and a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit (i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor, (ii) generating a variation range of the satellite-based position finding, (iii) comparing the dead-reckoning to the variation range, (iv) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and (v) displaying the vehicle position as a current position on the display device, wherein the control unit includes means for temporally synchronizing a signal produced by the at least one dead-reckoning sensor and a signal produced by the satellite receiver, wherein the control unit includes an arrangement determining the variation range of the satellite-based position finding, and wherein the arrangement includes a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and the vehicle speed. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. An orientation and navigation device for a vehicle, comprising:
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at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor; a memory for storing map data; a display device; a satellite receiver determining a satellite-based position finding; and a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit (i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor, (ii) generating a variation range of the satellite-based position finding, (iii) comparing the dead-reckoning to the variation range, (iv) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and (v) displaying the vehicle position as a current position on the display device, wherein the satellite receiver receives GPS coordinates and the control unit includes means for transforming the GPS coordinates into a dead-reckoning vehicle position coordinate system, wherein the control unit includes an arrangement determining the variation range of the satellite-based position finding and wherein the arrangement includes a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and the vehicle speed. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. An orientation and navigation device for a vehicle, comprising:
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at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor; a memory for storing map data; a display device; a satellite receiver determining a satellite-based position finding; and a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit (i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor, (ii) generating a variation range of the satellite-based position finding, (iii) comparing the dead-reckoning to the variation range, (iv) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and (v) displaying the vehicle position as a current position on the display device, wherein when the calculated vehicle position is set to the satellite-based position finding, the control unit moves a shifted vehicle position into a current position on a street of a map, the street running substantially parallel to a direction of travel of the vehicle and which is inside the variation range of the satellite-based position finding, wherein the control unit includes an arrangement determining the variation range of the satellite-based position finding, and wherein the arrangement includes a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and the vehicle speed. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40, 41)
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Specification