Vehicular navigation based on site specific sensor quality data

• US 7,299,056 B2
• Filed: 03/30/2005
• Issued: 11/20/2007
• Est. Priority Date: 02/23/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Primary Examiner(s): Feild; Joseph
• Assistant Examiner(s): DOAN, KIET M
• Application Number:
  US11/093,502
• Publication Number:
  US 20060189324A1
• Time in Patent Office: 965 Days
• Field of Search: 455/411, 455/456.1, 701/25, 701/28, 701/201, 700/245
• US Class Current: 455/456.1
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A method and system for determining a location of a vehicle, the method comprises determining reception location data within a first cell of a work area for a vehicle. A reception quality estimator estimates reception quality data for the corresponding reception location data for the first cell. Optical location data is determined within a first cell of a work area for a vehicle. An optical quality estimator estimates optical quality data for the corresponding optical location data for the first cell. A data processor selects at least one of the reception location data and the optical location data as refined location data associated with the first cell based on the estimated reception quality data and estimated optical quality data.

Claims

1. A method for determining a location of a vehicle, the method comprising:

establishing a first zone in a work area, the first zone being where reception location data is applied exclusively as refined location data, a location determining receiver providing the reception location data from reception of electromagnetic energy transmitted from terrestrial or satellite beacons;

establishing a second zone in the work area, the second zone being where optical location data is applied exclusively as refitted location data;

determining at least one of reception location data and optical location data to estimate preliminary location data indicating whether the vehicle is located in the first zone or the second zone; and

selecting one of the reception location data and the optical location data as the refined location data based on whether the preliminary indication data indicates that the vehicle falls within the established first zone or the second zone, respectively;

where the optical location data is selected as the refined location data if the estimated preliminary data is inconclusive with respect to the first zone and second zone and if the reception location data falls below a threshold reliability level.

2. The method according to claim 1 wherein the first zone and the second zone comprise a series of cells in the work area.

3. The method according to claim 2 wherein at least some of the cells are noncontinguous.

4. The method according to claim 1 wherein selecting comprises selecting the optical location data if the estimated preliminary data is inconclusive with respect to the first zone and second zone and if the reception location data is not available.

5. The method according to claim 1 further comprising planning a path of vehicle such that the vehicle switches between the first zone and the second zone within a certain maximum time limit.

6. The method according to claim 1 further comprising planning a path of vehicle such that the vehicle switches between the first zone and the second zone within a certain maximum diatanoe traversed by the vehicle.

7. A method for determining a location of a vehicle, the method comprising:

establishing a first zone in a work area, the first zone being where reception location data is applied exclusively as refined location data, a location determining receiver providing the reception location data from reception of electromagnetic energy transmitted from terrestrial or satellite beacons;

establishing a second zone in the work area, the second zone being where optical location data is applied exclusively as refined location data;

establishing a third zone in a the work area, the third zone being where dead-reckoning location data is applied exclusively as refined location data;

determining at least one of reception location data, optical location data, and dead-reckoning location data to estimate preliminary location data indicating whether the vehicle is located in the first zone, the second zone, or the third tone; and

selecting at least one of the reception location data, the optical location data, and dead-reckoning location data as the refined location data based on whether the preliminary indication data indicates that the vehicle falls within the established first zone, the established second zone, or the established third zone, respectively;

where the dead-reckoning location data is selected as the refined location data if the estimated preliminary data is inconclusive with respect to the first zone, the second zone, and the third zone and if the reception location data is not available and if the optical location data is not available.

8. The method according to claim 7 wherein the first zone, the second zone, and the third zone comprise a series of cells in the work area.

9. The method according to claim 8 wherein at least some of the cells are noncontinguous.

10. The method according to claim 7 wherein selecting comprises selecting the optical location data if the estimated preliminary data is inconclusive with respect to the first zone, the second zone, and the third zone and if the reception location data falls below a threshold reliability level.

11. The method according to claim 7 wherein selecting comprises selecting the dead-reckoning location data if the estimated preliminary data is inconclusive with respect to the first zone, the second zone, and the third zone and if the reception location data is not available and if the optical location data falls below a threshold reliability level.

12. The method according to claim 7 further comprising planning a path of vehicle such that the vehicle switches between the third zone and at least one of the first zone and second zone within a certain maximum time limit.

13. The method according to claim 7 further comprising planning a path of vehicle such that the vehicle switches between the third zone and at least one of the first zone and the second lone within a certain maximum distance traversed by the vehicle.

14. A system for determining a location of a vehicle, the system comprising:

a reception quality estimator for establishing a first zone in a work area, the first zone being where reception location data is applied exclusively as refined location data;

an optical quality estimator for establishing a second zone in the work area, the second zone being where optical location data is applied exclusively as refined location data;

a dead-reckoning auality estimated for establishing a third zone in the work area, the third zone being where dead-reckoning location data is applied exclusively as refined location data;

a location-sensing system for determining at least one of reception location data, optical location data, and dead-reckoning location data to estimate preliminary location data indicating whether the vehicle is located in the first zone, the second zone or the third zone;

the location-sensing system comprising a location determining receiver for providing the reception location data from reception of electromagnetic energy transmitted from terrestrial or satellite beacons; and

a data processor for selecting at least one of the reception location data, the optical location data, and dead-reckoning location data as refined location data based on whether the preliminary indication data indicates that the vehicle falls within the first zone, the second zone, or the third zone, respectively.

15. The system according to claim 14 wherein the data processor is arranged to select the optical location data if the estimated preliminary data is inconclusive with respect to the first zone, the second zone, and the third zone and if the reception location data is not available.

16. The system according to claim 14 wherein data processor is arranged to select the dead-reckoning location data if the estimated preliminary data is inconclusive with respect to the first zone, the second zone, and the third zone and if the reception location data is not available and if the optical location data is not available.