Global positioning system roadside integrated precision positioning system
First Claim
1. A real-time integrated navigation system for a vehicle, comprising:
- a GPS receiver, connected to a first antenna and receiving GPS data from satellites and outputting GPS position data;
a communications link, connected to a second antenna and to said GPS receiver, receiving range and carrier phase measurements from at least one base station;
navigation aids which provide relative position data of said vehicle;
a Kalman filter, connected to the output of the GPS receiver and the navigation aids, that integrates the GPS position data and the relative position data and outputs smoothed position data;
a module for receiving the smoothed position data and utilizing stored map data to output a signal related to a change in the position of the vehicle relative to road lane boundaries, wherein the map is constructed using GPS position points placed into a defined map frame.
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Accused Products
Abstract
A real-time integrated navigation system for a vehicle includes a GPS receiver, connected to a first antenna, where the GPS receiver receives GPS data from satellites and outputs GPS position data. The system also includes a communications link, connected to a second antenna and to the GPS receiver, receiving range and carrier phase measurements from at least one base station. The system further includes navigation aids which provide relative position data of said vehicle and a Kalman filter, connected to the output of the GPS receiver and the navigation aids, that integrates the GPS position data and the relative position data and outputs smoothed position data. The smoothed position data is used in transportation applications, especially detection of lane departure. This GPS-based positioning system is suitable for highway speeds during all weather conditions.
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Citations
11 Claims
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1. A real-time integrated navigation system for a vehicle, comprising:
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a GPS receiver, connected to a first antenna and receiving GPS data from satellites and outputting GPS position data;
a communications link, connected to a second antenna and to said GPS receiver, receiving range and carrier phase measurements from at least one base station;
navigation aids which provide relative position data of said vehicle;
a Kalman filter, connected to the output of the GPS receiver and the navigation aids, that integrates the GPS position data and the relative position data and outputs smoothed position data;
a module for receiving the smoothed position data and utilizing stored map data to output a signal related to a change in the position of the vehicle relative to road lane boundaries, wherein the map is constructed using GPS position points placed into a defined map frame. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of providing real-time navigation data to a vehicle, comprising the steps of:
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receiving GPS data from satellites via a first antenna connected to a GPS receiver located on the vehicle, receiving range and carrier phase measurements from at least one base station via a communications link connected to a second antenna and sending the range and carrier phase measurements to said GPS receiver;
outputting GPS position data from said GPS receiver to a Kalman filter;
querying navigation aids to provide relative position data of said vehicle and providing the relative position data to said Kalman filter;
integrating the GPS position data and the relative position data, using said Kalman filter, and outputting a smoothed position data for the vehicle;
computing a change in the position of the vehicle relative to road lane boundaries based on the smoothed position data and stored map data, wherein the map is constructed using GPS position points placed into a defined map frame. - View Dependent Claims (8, 9, 10, 11)
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Specification