Method and apparatus for estimating behaviors of vehicle using GPS signals
First Claim
1. A method of estimating a direction of a longitudinal axis of a vehicle with respect to a local geodetic coordinate system, the method comprising:
- calculating, by a vehicle-condition estimating unit, velocity vectors at two or more mutually-different positions of the vehicle, respectively, by using GPS (Global Positioning System) signals received by two or more GPS antennas located at the mutually different positions of the vehicle; and
calculating, by the vehicle-condition estimating unit, the direction of the longitudinal axis of the vehicle in the local geodetic coordinate system by performing a calculation based on a formula of;
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Abstract
A method and an apparatus for estimating behaviors of a vehicle are provided. At least two GPS antennas are located along a longitudinal axis of a vehicle so that speed vectors at the positions where the GPS antennas are located can be determined based on GPS signals received by the GPS antennas. The speed vectors are known to be estimated with high accuracy based on the GPS signals. The positions of the GPS antennas on the local coordinate system are estimated based on such highly accurate speed vectors, so that the estimated positions may also have high accuracy. Based on a line connecting these highly accurate positions of the GPS antennas, an inclination of the longitudinal axis of the vehicle is estimated. Use of the high-accuracy speed vectors enables high-accuracy estimation on the positions of the GPS antennas and the vehicle direction on the local coordinate system.
31 Citations
5 Claims
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1. A method of estimating a direction of a longitudinal axis of a vehicle with respect to a local geodetic coordinate system, the method comprising:
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calculating, by a vehicle-condition estimating unit, velocity vectors at two or more mutually-different positions of the vehicle, respectively, by using GPS (Global Positioning System) signals received by two or more GPS antennas located at the mutually different positions of the vehicle; and calculating, by the vehicle-condition estimating unit, the direction of the longitudinal axis of the vehicle in the local geodetic coordinate system by performing a calculation based on a formula of; - View Dependent Claims (2, 3, 4)
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5. An apparatus for estimating a direction of a longitudinal axis of a vehicle with respect to a local geodetic coordinate system, the apparatus comprising:
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a vehicle-condition estimating unit is configured to calculate velocity vectors at two or more mutually-different positions of the vehicle, respectively, by using GPS (Global Positioning System) signals received by two or more GPS antennas located at the mutually different positions of the vehicle; and the vehicle-condition estimating unit is configured to calculate the direction of the longitudinal axis of the vehicle in the local geodetic coordinate system by performing a calculation based on a formula of;
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Specification