Vehicular navigation based on site specific sensor quality data

• US 7,299,057 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:
  US11/094,042
• Publication Number:
  US 20060190163A1
• Time in Patent Office: 965 Days
• Field of Search: 455/411, 455/456.1, 364/424, 700/245, 701/25, 701/201, 701/217
• US Class Current: 455/456.1
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: H04L 67/52 specially adapted for the location of the user terminal

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:

determining reception location data within a first cell of a work area for a vehicle, a location determining receiver providing the reception location data from reception of electromagnetic energy transmitted from terrestrial or satellite beacons;

estimating reception quality data for the corresponding reception location data for the first cell;

determining optical location data within a first cell of a work area for a vehicle;

estimating reception quality data for the corresponding reception location data for the first cell;

selecting 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 the estimated optical quality data, where the optical location data is selected as the refined location data if the estimated reception quality data and estimated optical quality data are not available for the work area and if the reception location data falls below a threshold level of reliability.

2. The method according to claim 1 further comprising:

storing a map of cellular locations versus a first indicator for reception location data and cellular locations versus a second indicator for optical location data for the work area for reference during subsequent traversals of the work area by a vehicle.

3. The method according to claim 1 wherein the selecting comprises establishing relative weights for application of the reception location data and the optical location data based on the estimated reception quality data and estimated optical quality data.

4. The method according to claim 1 wherein the reception quality estimate is based on satellite position forecasts for the work area for the expected time of operation of the vehicle in the work area.

5. The method according to claim 1 wherein the optical quality estimate is based on camera parameters and corresponding locations of one or more cameras associated with the work area.

6. The method according to claim 1 wherein the estimating of reception quality data comprises estimating at least one of Position Dilution of Precision, Relative Dilution of Precision, Horizontal Dilution of Precision, Vertical Dilution of Precision, Time Dilution of Precision, and Geometric Dilution of Precision.

7. The method according to claim 1 wherein the estimating of optical quality data comprises estimating a Dilution of Precision.

8. The method according to claim 1 wherein the estimating of optical quality data comprises estimating a figure of merit based on at least one of technical specifications of a vision sensor of the optical location determining system, an observed scene for the first cell, and an imaging processing algorithm for the optical location data.

9. The method according to claim 1 wherein selecting comprises selecting the optical location data as the refined location data if the estimated reception quality data and estimated optical quality data is not available for at least the work area and if the reception location data is not available.

10. The method according to claim 1 wherein the estimated optical quality data and estimated reception quality data are available to the extent set forth in a quality estimate or site quality map for a particular area in which the vehicle plans to operate.

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

determining reception location data within a first cell of a work area for a vehicle, a location determining receiver providing the reception location data from reception of electromagnetic energy transmitted from terrestrial or satellite beacons;

estimating reception quality data for the corresponding reception location data for the first cell, the reception quality data replying upon at least one of satellite data and received signal data;

determining optical location data within a first cell of a work area for a vehicle;

estimating optical quality data for the corresponding optical location data for the first cell;

determining dead-reckoning location data within a first cell of a work area for a vehicle;

determining dead-reckoning location data within a first cell of a work area for a vehicle;

estimating dead-reckoning quality data for the corresponding dead-reckoning location data for the first cell; and

selecting at least one of the reception location data, the optical location data, and dead-reckoning location data as refined location data associated with the first cell based on the estimated reception quality data, estimated optical quality data, and estimated dead-reckoning quality data, wherein the dead-reckoning location data is selected as the refined location data, if the estimated reception quality data and estimated optical quality data are not available for the work area and if the reception location data and optical location data fall below their respective threshold levels of reliability.

12. The method according to claim 11 further comprising:

storing a map of cellular locations versus a first indicator of reception location data and cellular locations versus a second indicator of optical location data for the work area for reference during subsequent traversals of the work area by a vehicle.

13. The method according to claim 11 wherein the selecting comprises establishing relative weights for application of the reception location data, the optical location data, and the dead-reckoning location data based on the estimated reception quality data, estimated optical quality data, and estimated dead-reckoning quality data.

14. The method according to claim 11 wherein the estimating of the dead-reckoning quality data comprises estimating error accumulation rates.

15. The method according to claim 11 wherein the work area is a baseball stadium, and the dead-reckoning quality data is obtained from empirical measurement includes different values for a group of the following items:

dry grass, wet grass, dry artificial turf, wet artificial turf, and infield dirt, infield sand or infield material.

16. The method according to claim 11 wherein the dead-reckoning quality data may be obtained from empirical measurements of at least one of a dry field, a wet field, a harvested field portion, an unharvested field portion, a plowed field portion, an unplowed field portion, a low-till portion, an exposed soil field, and an unplanted field.

17. The method according to claim 11 wherein selecting comprises selecting the optical location data as the refined location date if the estimated reception quality and estimated optical quality data are not available for the work area and if the reception location data is not available.

18. The method according to claim 11 wherein selecting comprises selecting the optical location data as the refined location data if the estimated reception quality data and estimated optical quality data are not available for the work area and if the reception location data falls below a threshold level of reliability.

19. The method according to claim 11 wherein selecting comprises selecting the dead-reckoning location data as the refined location data if the estimated reception quality data and estimated optical quality data are not available for the work area and if the reception location data and the optical location data are not available.

20. The method according to claim 11 wherein the estimated optical quality data and estimated reception quality data are available to the extent set forth in a quality estimate or site quality map for a particular area in which the vehicle plans to operate.

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

a location determining receiver for determining reception location data within a first cell of a work area for a vehicle, the location determining receiver arranged to output the reception location data from reception of electromagnetic energy transmitted from terrestrial or satellite beacons;

a reception quality estimator for estimating reception quality data for the corresponding reception location data for the first cell, the reception quality data relying upon at least one of satellite data and received signal data;

an optical location determining receiver for determining optical location data within a first cell of a work area for a vehicle;

an optical quality estimator for estimating optical quality data for the corresponding optical location data for the first cell;

a dead-reckoning system for determining dead-reckoning location data within a first cell of a work area for a vehicle;

a dead-reckoning quality estimator for estimating dead-reckoning quality data for the corresponding dead-reckoning location data for the first cell;

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 associated with the first cell based on the estimated reception quality data, estimated optical quality data, and estimated dead-reckoning quality data.

22. The system according to claim 21 wherein the work area is a baseball stadium, and the dead-reckoning quality data is obtained from empirical measurement including different values for a group of any of the following items:

dry grass, wet grass, dry artificial turf, outfield material, wet artificial turf, and infield dirt, infield sand or infield material.

23. The system according to claim 21 wherein the reception quality estimate is based on satellite position forecast for the work area for the expected time of operation of the vehicle in the work area.

24. The system according to claim 21 wherein the reception quality data comprises at least one of Position Dilution of Precision, Relative Dilution of Precision, Horizontal Dilution of Precision, Vertical Dilution of Precision, Time Dilution of Precision, and Geometric Dilution Of Precision.

25. The system according to claim 21 further comprising a data storage device for storing a map of cellular locations versus a first indicator of reception location data and cellular locations versus a second indicator of optical location data for the work area for reference during subsequent traversals of the work area by a vehicle.