Vehicle navigation on the basis of satellite positioning data and vehicle sensor data

• US 8,639,441 B2
• Filed: 08/03/2012
• Issued: 01/28/2014
• Est. Priority Date: 08/03/2011
• Status: Active Grant

• Current Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Inventors: Natroshvili, Koba, Buerkle, Cornelius
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US13/566,621
• Publication Number:
  US 20130035855A1
• Time in Patent Office: 543 Days
• Field of Search: 701/408, 701/468, 701/469, 701/479, 701/480, 701/489, 701/509, 701/510, 703/2
• US Class Current: 701/480
• CPC Class Codes: G01S 19/393 Trajectory determination or predictive tracking, e.g. Kalman filtering
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A vehicle navigation system includes a Kalman filter having a first filter receiving satellite positioning data and a second filter receiving vehicle sensor data. The first filter generates a first state vector estimate and a corresponding first state error covariance matrix. The second filter generates a second state vector estimate and a corresponding second state error covariance matrix. A third filter receives the first and second state vector estimates and the first and second state error covariance matrices, and generates a combined state vector estimate and a corresponding combined state error covariance matrix. A prediction processor generates a predicted state vector estimate and a predicted state error covariance matrix from the combined state vector estimate and the combined state error covariance matrix. The predicted state vector estimate and the predicted state error covariance matrix are provided to the first filter, the second filter, and the third filter.

Claims

1. A method for vehicle navigation, comprising:

obtaining satellite positioning data from a satellite positioning device of a vehicle;

obtaining vehicle sensor data from a number of sensors of the vehicle; and

combining the satellite positioning data and the vehicle sensor data by a Kalman filter to obtain a combined state vector estimate of the vehicle;

wherein the Kalman filter comprises

a first filter which receives the satellite positioning data and generates a first state vector estimate of the vehicle and a corresponding first state error covariance matrix,

a second filter which receives the vehicle sensor data and generates a second state vector estimate of the vehicle and a corresponding second state error covariance matrix, and

a third filter which receives the first state vector estimate, the first state error covariance matrix, the second state vector estimate, and the second state error covariance matrix and generates the combined state vector estimate and a corresponding combined state error covariance matrix,

wherein the third filter comprises a prediction processor which generates a fed back predicted state vector estimate on the basis of the combined state vector estimate and a predicted state error covariance matrix on the basis of the combined state error covariance matrix,

wherein the predicted state vector estimate and the predicted state error covariance matrix are fed back to the first filter, the second filter, and the third filter,

wherein the first filter determines the first state vector estimate by updating the fed back predicted state vector estimate with the received satellite positioning data, and

wherein the second filter determines the second state vector estimate by updating the fed back predicted state vector estimate with the received vehicle sensor data.

2. The method according to claim 1,

wherein the vehicle sensor data comprise a velocity measured by an odometer of the vehicle.

3. The method according to claim 1,

wherein the vehicle sensor data comprise a yaw rate measured by a gyroscopic sensor of the vehicle.

4. The method according to claim 1,

wherein the vehicle sensor data comprise a steering angle of the vehicle.

5. The method according to claim 4,

wherein the steering angle is measured by a power steering controller of the vehicle.

6. The method according to claim 1,

wherein the first filter determines the first state error covariance matrix on the basis of the fed back predicted error covariance matrix and a measurement error covariance matrix of the satellite positioning data.

7. The method according claim 1,

wherein the second filter determines the second state error covariance matrix on the basis of the fed back predicted state error covariance matrix and a measurement error covariance matrix of the vehicle sensor data.

8. The method according to claim 1,

wherein the third filter determines the combined state error covariance matrix on the basis of the fed back predicted state error covariance matrix.

9. The method according to claim 1,

wherein the third filter determines the combined state vector estimate on the basis of the fed back predicted state vector estimate and the fed back predicted state error covariance matrix.

10. The method according to claim 1,

wherein the prediction processor of the third filter is based on a state transition model with a linear state transition matrix.

11. A navigation system for a vehicle, comprising:

a satellite positioning device configured to obtain satellite positioning data; and

a Kalman filter configured to obtain a combined state vector estimate of the vehicle by combining the satellite positioning data and vehicle sensor data received from a number of vehicle sensors of the vehicle,

wherein the Kalman filter comprises

a first filter configured to receive the satellite positioning data and generate a first state vector estimate of the vehicle and a corresponding first state error covariance matrix,

a second filter configured to receive the vehicle sensor data and generate a second state vector estimate of the vehicle and a corresponding second state error covariance matrix, and

a third filter configured to receive the first state vector estimate, the first state error covariance matrix, the second state vector estimate, and the second state error covariance matrix and generate the combined state vector estimate and a corresponding combined state error covariance matrix,

wherein the third filter comprises a prediction processor configured to generate a predicted state vector estimate on the basis of the combined state vector estimate and a predicted state error covariance matrix on the basis of the combined state error covariance matrix,

wherein the Kalman filter comprises a feedback arrangement configured to feed back the predicted state vector estimate and the predicted state error covariance matrix to the first filter, the second filter, and the third filter,

wherein the first filter is configured to determine the first state vector estimate by updating the fed back predicted state vector estimate with the received satellite positioning data, and

wherein the second filter is configured to determine the second state vector estimate by updating the fed back predicted state vector estimate with the received vehicle sensor data.

12. The navigation system according to claim 11,

wherein the sensor data comprise a velocity measured by an odometer of the vehicle.

13. The navigation system according to claim 11,

wherein the vehicle sensor data comprise a yaw rate measured by a gyroscopic sensor of the vehicle.

14. The navigation system according to claim 11,

wherein the vehicle sensor data comprise a steering angle of the vehicle.

15. The navigation system according to claim 14,

wherein the steering angle is measured by a power steering controller of the vehicle.

16. The navigation system according to claim 11,

wherein the first filter is configured to determine the first state error covariance matrix on the basis of the fed back predicted error covariance matrix and a measurement error covariance matrix of the satellite positioning data.

17. The navigation system according to claim 11,

wherein the second filter is configured to determine the second state error covariance matrix on the basis of the fed back predicted state error covariance matrix and a measurement error covariance matrix of the vehicle sensor data.

18. The navigation system according to claim 11,

wherein the third filter is configured to determine the combined state error covariance matrix on the basis of the fed back predicted state error covariance matrix.

19. The navigation system according to claim 11,

wherein the third filter is configured to determine the combined state vector estimate on the basis of the fed back predicted state vector estimate and the fed back predicted state error covariance matrix.

20. The navigation system according to claim 11,

wherein the prediction processor of the third filter is based on a state transition model with a linear state transition matrix.

21. A vehicle comprising a navigation system and a number of vehicle sensors providing vehicle sensor data, the navigation system comprising:

a satellite positioning device configured to obtain satellite positioning data; and

a Kalman filter configured to obtain a combined state vector estimate of the vehicle by combining the satellite positioning data and the vehicle sensor data received from the vehicle sensors of the vehicle,

wherein the Kalman filter comprises

a first filter configured to receive the satellite positioning data and generate a first state vector estimate of the vehicle and a corresponding first state error covariance matrix,

a second filter configured to receive the vehicle sensor data and generate a second state vector estimate of the vehicle and a corresponding second state error covariance matrix, and

a third filter configured to receive the first state vector estimate, the first state error covariance matrix, the second state vector estimate, and the second state error covariance matrix and generate the combined state vector estimate and a corresponding combined state error covariance matrix,

wherein the third filter comprises a prediction processor configured to generate a predicted state vector estimate on the basis of the combined state vector estimate and a predicted state error covariance matrix on the basis of the combined state error covariance matrix, and

wherein the Kalman filter comprises a feedback arrangement configured to feed back the predicted state vector estimate and the predicted state error covariance matrix to the first filter, the second filter, and the third filter,

wherein the first filter is configured to determine the first state vector estimate by updating the fed back predicted state vector estimate with the received satellite positioning data, and

wherein the second filter is configured to determine the second state vector estimate by updating the fed back predicted state vector estimate with the received vehicle sensor data.