Machine navigation system having integrity checking
First Claim
1. A navigation system, comprising:
- a navigation unit configured to measure a position of a machine at a first time and at a second time;
at least a first sensor configured to generate at least a first signal indicative of a speed and a heading of the machine during a time period from the first time to the second time; and
a controller in communication with the navigation unit and the at least a first sensor, the controller being configured to;
estimate a position of the machine at the second time based on the measured position of the machine at the first time and the at least a first signal;
make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time;
determine that the navigation unit has malfunctioned when the measured position at the second time is different than the estimated position at the second time by a threshold amount; and
selectively implement evasive machine control when the navigation unit is determined to have malfunctioned for a set period of time,wherein implementing the evasive machine control includes changing a heading of the machine.
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Accused Products
Abstract
A navigation system for a machine is disclosed. The navigation system may have a navigation unit configured to measure a position of a machine at a first time and at a second time, and at least a first sensor configured to generate at least a first signal indicative of a speed and a heading of the machine during a time period from the first time to the second time. The navigation system may also have a controller configured to estimate a position of the machine at the second time based on the measured position of the machine at the first time and the at least a first signal, and to make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time. The controller may also be configured to determine an integrity of the navigation unit based on the comparison.
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Citations
15 Claims
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1. A navigation system, comprising:
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a navigation unit configured to measure a position of a machine at a first time and at a second time; at least a first sensor configured to generate at least a first signal indicative of a speed and a heading of the machine during a time period from the first time to the second time; and a controller in communication with the navigation unit and the at least a first sensor, the controller being configured to; estimate a position of the machine at the second time based on the measured position of the machine at the first time and the at least a first signal; make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; determine that the navigation unit has malfunctioned when the measured position at the second time is different than the estimated position at the second time by a threshold amount; and selectively implement evasive machine control when the navigation unit is determined to have malfunctioned for a set period of time, wherein implementing the evasive machine control includes changing a heading of the machine. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A non-transitory computer readable medium for use by a navigation system, the non-transitory computer readable medium having executable instructions for performing a method of accuracy checking a measured position, the method comprising:
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measuring a position of a machine at a first time and at a second time; measuring a speed and a heading of the machine during a time period from the first time to the second time; and estimating a position of the machine at the second time based on the measured position of the machine at the first time and the measured speed and heading; making a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; determining that the measured position is inaccurate when the measured position of the machine at the second time is different than the estimated position of the machine at the second time by a threshold amount; and selectively implementing evasive machine control when the measured position of the machine at the second time is determined to be inaccurate for a set period of time, wherein implementing the evasive machine control includes changing a heading of the machine. - View Dependent Claims (12, 13, 14)
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15. A machine, comprising:
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a power source; at least one traction device driven by the power source to propel the machine; a GPS unit configured to measure a position of the machine at a first time and at a second time; a speed sensor configured to generate a first signal indicative of a travel speed of the machine during a time period from the first time to the second time; a steering sensor configured to generate a second signal indicative of a heading of the machine during the time period; and a controller in communication with the GPS unit, the speed sensor, and the steering sensor, the controller being configured to; estimate a position of the machine at the second time based on the measured position of the machine at the first time and the first and second signals; make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; determine that the GPS unit has malfunctioned when the measured position of the machine at the second time deviates from the estimated position of the machine at the second time by a threshold amount; and implement evasive maneuvering of the machine when the GPS unit is determined to have malfunctioned for a set period of time, wherein implementing the evasive maneuvering of the machine includes changing a heading of the machine.
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Specification