Vehicle navigation system and method using GPS velocities

• US 6,029,111 A
• Filed: 12/28/1995
• Issued: 02/22/2000
• Est. Priority Date: 12/28/1995
• Status: Expired due to Term

• Current Assignee: Beacon Navigation GmbH (Beacon Navigation Incorporated)
• Original Assignee: Magellan DIS, Inc.
• Inventors: Croyle, Steven R.
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/579,902
• Time in Patent Office: 1,517 Days
• Field of Search: 364/460, 364/461, 364/450, 364/454, 364/453, 364/447, 364/448, 364/443, 364/444.1, 364/449.1, 364/449.2, 364/449.7, 340/988, 340/990, 340/995, 73/178 R, 342/357, 342/457, 342/352, 342/451, 701/200, 701/201, 701/207, 701/208, 701/213, 701/214, 701/215, 701/216, 701/217, 701/221
• US Class Current: 701/207
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The improved vehicle navigation system can take advantage of the recent availability of low cost micro-machined and piezoelectric sensors, and partially overcomes the low dynamics and line of sight limitations of GPS receivers without resorting to the hard wired approach described above. The low cost sensors introduce system level errors due to their inherent DC offset and drift rates. The improved vehicle navigation system minimizes both the sensor induced errors and GPS low dynamic limitations by using a zero motion detection system as a self contained (within the navigation system), vehicle independent device.

Claims

1. An improved navigation system having a GPS receiver which provides GPS velocity information, said navigation system calculating a displacement based upon said GPS velocity information over a time interval, said vehicle navigation system adding said displacement to a previous position to obtain a current position.

2. The zero motion detection system of claim 1 including a zero motion signal, said detection system produces a zero motion signal to lock heading changes and calibrate velocity information.

3. The zero motion detection system of claim 2 wherein said detection system resolves ambiguity in GPS velocity information.

4. The zero motion detection system of claim 1 wherein said detection system determines said offset by averaging samples of said motion signals.

5. The zero motion detection system of claim 1 wherein said detection system compares at least two samples of said motion signals with a threshold to determine said zero motion state.

6. An improved navigation system according to claim 1 wherein said GPS velocity information is calculated from delta range measurements.

7. An improved navigation system according to claim 6 wherein said navigation system calculates each of said delta range measurements based upon a first pseudorange measurement and a subsequent second pseudorange measurement, said time interval between said first pseudorange measurement and said second pseudorange measurement.

8. An improved navigation system according to claim 7 wherein said navigation system calculates said displacement by integrating said GPS velocity over said time interval between said first and second pseudorange measurements.

9. An improved navigation system according to claim 8 wherein said navigation system utilizes said GPS velocity information to dead reckon said current position from said previous position.

10. An improved navigation system comprising:

a GPS receiver which provides GPS velocity information, said navigation system using GPS velocity information to propagate a previous position to a current position, said system determines east and north displacements by integrating said GPS velocity information and applies said east and north displacements to said previous position to obtain said current position; and

sensors providing information used to propagate vehicle position if said GPS velocity information is not available, said navigation system determines calibration information from said GPS velocity information to calibrate said sensors.

11. The system of claim 10 wherein said sensors is an orthogonal axes accelerometer.

12. The system of claim 10 further including a zero motion detection system which provides a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.

13. An improved navigation system according to claim 10 wherein said navigation system calculates said GPS velocity based upon a plurality of delta range measurements, said navigation system calculating each said delta range measurement based upon a different pair of pseudorange measurements, each said pair of pseudorange measurements being received from a different GPS satellite, said navigation system calculates said displacement by integrating said GPS velocity over a time interval between said first and second pseudorange measurements.

14. An improved navigation system comprising:

a GPS receiver which provides GPS velocity information, said navigation system using GPS velocity information to propagate a previous position to a current position, said system determines east and north displacements from said GPS velocity information and applies said east and north displacements to said previous position to obtain said current position; and

an orthogonal axes accelerometer providing longitudinal and lateral acceleration information, said vehicle navigation system determines longitudinal and lateral calibration information from said GPS velocity information to calibrate said orthogonal axes accelerometer; and

a zero motion detection system which provides a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.

15. An improved navigation system according to claim 14 wherein said system integrates said GPS velocity over a time interval to obtain said east and north displacements.

16. An improved navigation system according to claim 15 wherein said navigation system calculates each of a plurality of delta ranges from different pairs of pseudorange measurements, said navigation system calculates said GPS velocity based upon said delta ranges.

23. The method of claim 15 further including the step of providing a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.

17. A method of determining a current position from a previous position including the steps of:

providing GPS velocity information;

calculating a displacement based upon said GPS velocity information over a time interval; and

using said displacement to propagate a previous position to a current position.

18. The method of claim 17 wherein said displacement comprises

east and north displacements said method further including the step of

applying said east and north displacements to said previous position to obtain said current position.

19. The method of claim 17 further including the step of providing a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.

20. The method of claim 17 further including the steps of:

providing sensor information used to propagate position if said GPS velocity information is not available; and

determining calibration information from said GPS velocity information to calibrate said sensors.

21. The method of claim 17 further including the steps of:

providing longitudinal and lateral acceleration information by an orthogonal axes accelerometer;

determining longitudinal and lateral calibration information from said GPS velocity information to calibrate said orthogonal axes accelerometer.

22. A method of determining a current position from a previous vehicle position including the steps of:

providing GPS velocity information;

determining east and north displacements by integrating said GPS velocity information over a time interval;

applying said east and north displacements to said previous position to obtain said current position;

providing longitudinal and lateral acceleration information by an orthogonal axes accelerometer;

determining longitudinal and lateral calibration information from said GPS velocity information; and

calibrating said orthogonal axes accelerometer with said calibration information.

24. The method of claim 22 further including the steps of:

calculating said GPS velocity based upon a plurality of delta ranges.

25. The method of claim 24 further including the steps of:

receiving a plurality of pairs of pseudorange measurements, each said pair of pseudorange measurements received from a different satellite;

calculating each of said plurality of delta range measurements from a different pair of said pseudorange measurements.

26. A method for dead reckoning position utilizing GPS velocity including the steps of:

a) determining a first position;

b) determining a first pseudorange measurement with respect to each of a plurality of satellites;

c) determining a second pseudorange measurement with respect to each of said plurality of satellites after said step b);

d) calculating a delta range with respect to each of said plurality of satellites, each based upon one of said first pseudorange measurements and one of said second pseudorange measurements;

e) calculating GPS velocity based upon said plurality of delta ranges;

f) calculating a displacement based upon said GPS velocity over a time interval;

g) adding said displacement to said first position to obtain a second position.

27. The method of claim 26 further including the steps of:

receiving a plurality of pairs of pseudorange measurements, each said pair of pseudorange measurements received from a different satellite;

calculating each of said plurality of delta range measurements from a different pair of said pseudorange measurements.

28. The method of claim 27 further including the step of integrating said GPS velocity over time to obtain said displacement.