Navigation system, navigation device, navigation server, vehicle provided with a navigation device, group of such vehicles and navigation method

• US 8,700,326 B2
• Filed: 11/18/2010
• Issued: 04/15/2014
• Est. Priority Date: 11/24/2009
• Status: Expired due to Fees

• Current Assignee: Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno
• Original Assignee: Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno
• Inventors: Ruizenaar, Marcel Gregorius Anthonius
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US13/511,857
• Publication Number:
  US 20120265441A1
• Time in Patent Office: 1,244 Days
• Field of Search: 701/400, 701/449, 701/500, 701/525
• US Class Current: 701/525
• CPC Class Codes: G01C 21/1654 with electromagnetic compass

Abstract

A navigation system is disclosed comprising a navigation device (2a) with a navigation sensor unit (3) and a magnetic field sensor unit (4), the navigation device is arranged to be moved. The navigation sensor unit (3) is arranged for providing a navigation signal with navigation information (ā, θ). The magnetic field sensor unit is arranged for providing a magnetic field signal (H) indicative for a magnetic field strength. The navigation system further comprises a first integration unit (6a) for integrating the navigation signal (ā, θ) and for providing a first integration result (p), a second integration unit (6b) for calculating a path-integral of the magnetic field signal using the navigation signal, and for providing a second integration result (m), a first auxiliary integration unit (6c) for providing a first coefficient (α), a second auxiliary integration unit (6d) for providing a second coefficient (φ), and a proximity detector (5) for providing a proximity signal (Snc) indicative whether a distance between the navigation device (2a) and a reference position is less than a predetermined value. A matrix solving unit (8) for solves a set of equations based on the first integration result, the second integration result, the first coefficient and the second coefficient.

Claims

1. Navigation system comprising

a navigation device with a navigation sensor unit and a magnetic field sensor unit, the navigation device being arranged to be moved,

the navigation sensor unit being arranged for providing a navigation signal with navigation information ( α

,θ

)

the magnetic field sensor unit being arranged for providing a magnetic field signal (H) indicative for a magnetic field strength,

a first integration unit for integrating the navigation signal ( α

,θ

) and for providing a first integration result (p),

a second integration unit for calculating a path-integral of the magnetic field signal using the navigation signal, and for providing a second integration result (m),

a first auxiliary integration unit for providing a first coefficient (α

),

a second auxiliary integration unit for providing a second coefficient (φ

),

a proximity detector for providing a proximity signal (Snc) indicative whether a distance between the navigation device and a reference position is less than a predetermined value,

a data storage unit for storing the first integration result, the second integration result, the first coefficient and the second coefficient for states wherein the proximity signal is positive,

a matrix solving unit for solving a set of equations based on the first integration result, the second integration result, the first coefficient and the second coefficient retrieved from the data storage unit,

a controller for controlling the first integration unit, the second integration unit, the first auxiliary integration unit, the second auxiliary integration unit data storage unit, the data storage unit and the matrix solving unit.

2. Navigation system according to claim 1, wherein

the first integration result ( p) is an estimated position,

the second integration result (m) is Ampere'"'"'s integral of the magnetic field signal ( H) along the path (O₁-O₂) followed by the navigation system as estimated on the basis of the navigation signal ( α

,θ

),

the first auxiliary integration unit obtains the first coefficient (α

) by a double integration of a normalization constant in time over a time-interval (T₁-T₂) in which the estimated path was followed,

the second auxiliary integration unit is arranged for

integrating a normalization constant (I) in time over said time-interval,

for multiplying an integration result obtained therewith by the measured magnetic field (H) and

for integrating the product obtained therewith in time over said time-interval, wherein the integration result of this integration is the second coefficient ( φ

),

wherein the set of equations includes at least a first equation in which the estimated position (p₁¹) is expressed as the product of the first coefficient (α

) with a bias ( b) in the acceleration, and a second equation wherein Ampere'"'"'s integral is expressed as the product of said bias ( b) with the second coefficient ( φ

), and

wherein the matrix solving unit estimates said bias by solving the set of equations.

3. Navigation system according to claim 2, comprising at least one beacon, and wherein the reference position is the position of the beacon.

4. Navigation system according to claim 2, comprising at least a further navigation device arranged to be moved, wherein the reference position is the position of the further navigation device.

5. Navigation system according to claim 4, wherein the further navigation device is provided with a facility for providing a magnetic field.

6. Navigation system according to claim 2, wherein the navigation sensor unit comprises an inertial sensor.

7. Navigation system according to claim 2, comprising a third reference integration unit for integrating the product of the magnetic field signal with the rotation matrix.

8. Navigation system according to claim 1, comprising at least one beacon, and wherein the reference position is the position of the beacon.

9. Navigation system according to claim 1, comprising at least a further navigation device arranged to be moved, wherein the reference position is the position of the further navigation device.

10. Navigation system according to claim 9, wherein the further navigation device is provided with a facility for providing a magnetic field.

11. Navigation system according to claim 1, wherein the navigation sensor unit comprises an inertial sensor.

12. Navigation system according to claim 1, comprising a third reference integration unit for integrating the product of the magnetic field signal with the rotation matrix.

13. Navigation device comprising

a navigation sensor unit, a magnetic field sensor unit, and a proximity detector, wherein the navigation device is arranged to be moved,

the navigation sensor unit being arranged for providing a navigation signal,

the magnetic field sensor unit being arranged for providing a magnetic field signal indicative for a magnetic field strength,

the proximity detector being arranged for providing a proximity signal (Snc) indicative whether a distance between the navigation device and a reference position is less than a predetermined value, and

further comprising

a first integration unit for integrating the navigation signal and for providing a first integration result (p),

a second integration unit for calculating a path-integral of the magnetic field signal using the navigation signal, and for providing a second integration result (m),

a first auxiliary integration unit for providing a first coefficient (α

),

a second auxiliary integration unit for providing a second coefficient (φ

).

14. Navigation device according to claim 13, further comprising a communication unit, wherein the communication unit of the navigation device transmits the sensor signals ā

,θ

indicative respectively for the measured acceleration and the measured orientation, the signal (H) indicative for the magnetic field and the signal (Snc) indicating whether an encounter has been detected or not.

15. Navigation device according to claim 13, wherein

the first integration result ( p) is an estimated position,

the second integration result (m) is Ampere'"'"'s integral of the magnetic field signal ( H) along the path (O₁-O₂) followed by the navigation system as estimated on the basis of the navigation signal (ā

,θ

),

the first auxiliary integration unit obtains the first coefficient (α

) by a double integration of a normalization constant in time over a time-interval (T₁-T₂) in which the estimated path was followed,

the second auxiliary integration unit is arranged for

integrating a normalization constant (I) in time over said time-interval,

for multiplying an integration result obtained therewith by the measured magnetic field (H) and

for integrating the product obtained therewith in time over said time-interval, wherein the integration result of this integration is the second coefficient ( φ

),

wherein the set of equations includes at least a first equation in which the estimated position (p₁¹) is expressed as the product of the first coefficient (α

) with a bias ( b) in the acceleration, and a second equation wherein Ampere'"'"'s integral is expressed as the product of said bias ( b) with the second coefficient ( φ

), and

wherein the matrix solving unit (8) estimates said bias by solving the set of equations.

16. Navigation server comprising

a data storage unit for storing a first integration result obtained from a first integration unit for integrating a navigation signal, a second integration result obtained from a second integration unit for calculating a path-integral of the magnetic field signal using the navigation signal, a first coefficient obtained from a first auxiliary integration unit and a second coefficient obtained from a second auxiliary integration unit,

a matrix solving unit for solving a set of equations based on the first integration result, the second integration result, the first coefficient and the second coefficient retrieved from the data storage unit,

a controller for controlling the first integration unit, the second integration unit, the first auxiliary integration unit, the second auxiliary integration unit, the data storage unit and the matrix solving unit.

17. Navigation server according to claim 16, wherein

the first integration result ( p) is an estimated position,

the second integration result (m) is Ampere'"'"'s integral of the magnetic field signal ( H) along the path (O₁-O₂) followed by the navigation system as estimated on the basis of the navigation signal (ā

,θ

),

the first auxiliary integration unit obtains the first coefficient (α

) by a double integration of a normalization constant in time over a time-interval (T₁-T₂) in which the estimated path was followed,

the second auxiliary integration unit is arranged for

integrating a normalization constant (I) in time over said time-interval,

for multiplying an integration result obtained therewith by the measured magnetic field (H) and

for integrating the product obtained therewith in time over said time-interval, wherein the integration result of this integration is the second coefficient ( φ

),

wherein the set of equations includes at least a first equation in which the estimated position (p₁¹) is expressed as the product of the first coefficient (α

) with a bias ( b) in the acceleration, and a second equation wherein Ampere'"'"'s integral is expressed as the product of said bias ( b) with the second coefficient ( φ

), and

wherein the matrix solving unit estimates said bias by solving the set of equations.

18. Vehicle provided with a navigation device comprising

a navigation sensor unit, a magnetic field sensor unit, and a proximity detector, wherein the navigation device is arranged to be moved,

the navigation sensor unit being arranged for providing a navigation signal,

the magnetic field sensor unit being arranged for providing a magnetic field signal indicative for a magnetic field strength,

the proximity detector being arranged for providing a proximity signal (Snc) indicative whether a distance between the navigation device and a reference position is less than a predetermined value, and

further comprising

a first integration unit for integrating the navigation signal and for providing a first integration result (p),

a second integration unit for calculating a path-integral of the magnetic field signal using the navigation signal, and for providing a second integration result (m),

a first auxiliary integration unit for providing a first coefficient (α

),

a second auxiliary integration unit for providing a second coefficient (φ

).

19. Group of vehicles according to claim 18, having mutually cooperating navigation devices.

20. Method for navigating comprising the steps of

providing a navigation signal with navigation information,

providing a magnetic field signal indicative for a magnetic field strength,

integrating the navigation signal and providing a first integration result (p),

determining a path integral of magnetic field signal using the navigation signal and providing a second integration result (m),

carrying out a first auxiliary integration resulting in a first coefficient (α

),

carrying out a second auxiliary integration resulting in a second coefficient (φ

),

providing a proximity signal indicative whether a distance between the navigation device and a reference position is less than a predetermined value,

storing the first integration result, the second integration result, the first reference integration result and the second reference integration result for states wherein the proximity is positive,

solving a set of equations based on the first integration result, the second integration result, the first reference integration result and the second reference integration result retrieved from the data storage unit.

21. Method according to claim 20, wherein

the first integration result ( p) is an estimated position,

the second integration result (m) is Ampere'"'"'s integral of the magnetic field signal ( H) along the path (O₁-O₂) followed by the navigation system as estimated on the basis of the navigation signal (ā

,θ

),

the first auxiliary integration obtains the first coefficient (α

) by a double integration of a normalization constant in time over a time-interval (T₁-T₂) in which the estimated path was followed,

the second auxiliary integration comprises

integrating a normalization constant (I) in time over said time-interval,

multiplying an integration result obtained therewith by the measured magnetic field (H) and

integrating the product obtained therewith in time over said time-interval, wherein the integration result of this integration is the second coefficient ( φ

),

wherein the set of equations includes at least a first equation in which the estimated position (p₁¹) is expressed as the product of the first coefficient (α

) with a bias ( b) in the acceleration, and a second equation wherein Ampere'"'"'s integral is expressed as the product of said bias ( b) with the second coefficient ( φ

), and wherein said bias is estimated by solving the set of equations.