Heading and position error-correction method and apparatus for vehicle navigation systems

• US 6,401,036 B1
• Filed: 10/03/2000
• Issued: 06/04/2002
• Est. Priority Date: 10/03/2000
• Status: Expired due to Term

• Current Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Figor, Russel, Geier, George J., Strother, Troy L.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/678,598
• Time in Patent Office: 609 Days
• Field of Search: 701/214, 701/16, 701/213, 701/207, 701/23, 701/300, 701/217, 701/220, 701/216, 701/224, 701/221, 701/26, 701/208, 701/25, 701/200, 701/41, 701/3, 701/301, 702/150, 702/93, 702/92, 702/96, 702/99, 342/357.14, 342/457, 342/357.08, 342/359, 342/357.02, 342/31, 342/357.03, 342/456, 342/107, 342/163, 340/500, 340/436, 340/995, 340/988, 340/435, 340/903, 375/148, 375/150, 180/167, 180/168, 246/122.R, 246/121
• US Class Current: 701/214
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Abstract

The present invention provides methods and devices that enable correction of gyroscope bias and gyroscope bias drift in low-cost, vehicular navigation and positioning systems without using estimates of position and heading, and subsequent correction of heading and position errors resulting from gyroscope bias and bias drift, without relying on assumptions regarding gyroscope bias or predetermined time-dependent gyroscope bias drift profiles. The invention improves over existing GPS/DR systems that do not compensate for actual gyroscope bias instability, but instead correct the heading and position error that is induced by the bias instability and then correct estimates of gyroscope bias based on the corrected position and heading. The inventive methods provided herein can be used with any DR vehicle positioning system that uses a gyroscope.

Claims

1. A vehicle navigational system having built-in error correction comprising:

(a) a distance traveled sensor;

(b) a heading sensor having a bias that drifts over time;

(c) a dead reckoning system having a distance traveled sensor interface and a heading sensor interface, wherein the dead reckoning component receives distance-traveled data from the distance-traveled sensor and heading data from the heading sensor and generates a first set of vehicle position data and a first set of vehicle heading data;

(d) a reference vehicle position system in direct communication with the dead reckoning component, wherein the reference vehicle position system generates a second set of vehicle heading data and a second set of vehicle position data to the dead reckoning system;

(e) a first computational means for determining if the vehicle is stationary;

(f) a second computational means for generating an updated heading sensor bias;

(g) a third computational means for generating a heading sensor bias drift rate;

(h) a fourth computational means for integrating the first set of vehicle heading data and the second set of vehicle heading data into an integrated vehicle heading;

(i) a fifth computational means for integrating the first set of vehicle position data and the second set of vehicle position into an integrated vehicle heading;

(j) a sixth computational means for calculating an integrated vehicle heading correction using the estimated bias drift rate to compensate for integrated vehicle heading errors induced by heading sensor bias drift and an integrated vehicle position correction using the first integrated vehicle heading correction to compensate for integrated vehicle position errors induced by heading sensor bias drift; and

(k) a seventh computational means for calculating a corrected vehicle heading and position.

2. The apparatus of claim 1 wherein the heading sensor is a gyroscope.

3. The apparatus of claim 1 wherein the heading sensor is a low-cost gyroscope.

4. The apparatus of claim 1 wherein the heading sensor is a vibrational gyroscope.

5. The apparatus of claim 1 wherein the distance-traveled sensor is an odometer.

6. The apparatus of claim 1 wherein the dead reckoning system comprises a dead reckoning processor, a heading sensor interface, and a distance-traveled sensor interface.

7. The apparatus of claim 6 wherein the heading sensor interface is a gyroscope interface.

8. The apparatus of claim 6 wherein the distance-traveled sensor interface is an odometer interface.

9. The apparatus of claim 1 wherein the reference vehicle position system comprises a satellite-based positioning system.

10. The apparatus of claim 9 wherein the satellite-based positioning system is the Global Positioning System, GLONASS, or Galileo satellite positioning systems.

11. The apparatus of claim 10 wherein the satellite-based positioning means is the Global Positioning System.

12. The apparatus of claim 11 wherein the satellite-based positioning means comprises an antenna and a receiver.

13. The apparatus of claim 12 further comprising a global positioning system processor.

14. The apparatus of claim 1 wherein the third computational means for calculating the heading sensor bias drift rate comprises a Kalman filter.

15. The apparatus of claim 1 wherein the fourth computational means for integrating the first vehicle heading and the second vehicle heading into an integrated vehicle heading comprises a Kalman filter.

16. The apparatus of claim 1 wherein the fifth computational means for integrating the first vehicle position and the second vehicle position into an integrated vehicle position comprises a Kalman filter.

17. The apparatus of claim 1 further comprising an application specific device.

18. The apparatus of claim 17 wherein the application specific device is a unit for matching the corrected vehicle position with a map contained in the application specific device.

19. The apparatus of claim 18 further comprising a unit for displaying the map contained in the application specific device and identifying the corrected vehicle position on the displayed map.

20. The apparatus of claim 17 wherein the application specific device is a transmitter, wherein the transmitter transmits the vehicle heading and position data to a service center having a receiver.

21. A method for correcting heading and position error induced by a sensor drift in a vehicle navigational system, comprising the steps of:

(a) transmitting heading data from a heading sensor to a dead reckoning system having a memory and storing the heading data in a memory of the dead reckoning system;

(b) transmitting distance traveled data from a distance-traveled sensor to the dead reckoning system and storing the distance traveled data in the memory of the dead reckoning system;

(c) transmitting heading sensor bias data from the heading sensor to the dead reckoning system and storing the heading sensor bias data in the memory of the dead reckoning component;

(d) transmitting reference position data from a satellite to the reference vehicle position system;

(e) calculating a heading sensor bias drift rate using the data transmitted to the dead reckoning system and stored in the memory of the dead reckoning system;

(f) estimating a vehicle heading using the heading data transmitted to the dead reckoning system and stored in the memory of the dead reckoning system;

(g) estimating a vehicle position using the distance traveled data transmitted to the dead reckoning system and stored in the memory of the dead reckoning system and the estimated vehicle heading;

(h) calculating an integrated vehicle heading using the estimated vehicle heading and the reference position data transmitted to the reference vehicle position system;

(i) determining whether the integrated vehicle heading requires correction;

(j) calculating an integrated vehicle position using the estimated vehicle position and the position data transmitted to the reference vehicle position system;

(k) determining whether the integrated vehicle position requires correction;

(l) calculating a heading correction using the calculated heading sensor bias drift rate;

(m) calculating a position correction using the calculated heading correction;

(n) correcting the vehicle heading using the calculated heading correction; and

(o) correcting the vehicle position using the calculated position correction.

22. A computer readable medium having stored therein instructions for causing a central processing unit to execute the method of claim 21.

23. The method of claim 21 wherein the method is performed in real-time in the vehicle.

24. The method of claim 21 further comprising the step of transmitting the stored heading and position data to a service center, wherein steps (e) to (o) of the method are performed in non-real time at the service center.

25. The method of claim 21 wherein the method is iterated periodically.

26. The method of claim 25 wherein the method is iterated at a frequency of 1 iteration per second.

27. The method of claim 21 wherein the step of calculating a heading sensor bias drift rate is iterated when the vehicle reaches a stationary point.

28. The method of claim 21 wherein the step of calculating a heading sensor bias drift rate comprises the steps of:

(a) taking a first measurement of heading sensor bias when the vehicle reaches a first stationary point,

(b) taking a second measurement of heading sensor bias when the vehicle reaches a second;

(c) determining the time elapsed between the first and second vehicle stationary points; and

(d) dividing the difference between the measured heading sensor bias at the second stationary point and the measured heading sensor bias at the second stationary point by the time elapsed between the first and second vehicle stationary points.

29. The method of claim 28 wherein the step of calculating a heading sensor bias drift rate is iterated only when the vehicle reaches a stationary point and the time elapsed between stationary point exceeds a predetermined minimum time.

30. The method of claim 21 further comprising the step of setting a heading sensor bias drift rate flag to a non-zero value after the heading sensor bias drift rate is calculated to indicate the availability of a heading sensor bias drift rate update.

31. The method of claim 30 wherein the step of calculating a heading correction is iterated when the bias drift rate flag is set to a non-zero value.

32. The method of claim 21 wherein the heading sensor is a gyroscope.

33. The method of claim 21 wherein the heading sensor is a low-cost gyroscope.

34. The method of claim 21 wherein the heading sensor is a vibrational gyroscope.

35. The method of claim 21 wherein the distance-traveled sensor is an odometer.

36. The method of claim 21 wherein the dead reckoning system comprises a dead reckoning processor, a heading sensor interface, and a distance-traveled sensor interface.

37. The method of claim 36 wherein the heading sensor interface is a gyroscope interface.

38. The apparatus of claim 36 wherein the distance-traveled sensor interface is an odometer interface.

39. The method of claim 21 wherein the reference vehicle position system comprises a satellite-based positioning system.

40. The method of claim 39 wherein the satellite-based positioning system is the Global Positioning System, GLONASS, or Galileo satellite positioning systems.

41. The apparatus of claim 40 wherein the satellite-based positioning system is the Global Positioning System.

42. The method of claim 41 wherein the satellite-based positioning system comprises an antenna and a receiver.

43. The method of claim 42 wherein the satellite-based positioning system further comprises a global positioning system processor.

44. The method of claim 21 wherein the means for integrating the first vehicle heading and the second vehicle heading into an integrated vehicle heading comprises a Kalman filter.

45. The method of claim 21 wherein the step of calculating a heading sensor bias drift rate utilizes a Kalman filter.

46. The method of claim 21 wherein the step of calculating an integrated vehicle heading utilizes a Kalman filter.

47. The method of claim 21 wherein the step of calculating an integrated vehicle position utilizes a Kalman filter.

48. The method of claim 21 further comprising the step of transmitting the corrected vehicle heading and corrected vehicle position to an application specific device.

49. The method of claim 48 wherein the application specific device is a unit for matching the corrected vehicle position with a map contained in the application specific device.

50. The method of claim 49 wherein the application specific device further comprises a unit for displaying the map contained in the application specific device and identifying the corrected vehicle position on the displayed map.

51. The method of claim 49 wherein the application specific device comprises a transmitter, and wherein the transmitter transmits the vehicle heading and position data to a service center having a receiver for off-line calculation of the corrected vehicle position and corrected vehicle heading.