Vehicle-based positioning system and method of using the same

• US 8,989,985 B2
• Filed: 08/14/2013
• Issued: 03/24/2015
• Est. Priority Date: 08/14/2013
• Status: Active Grant

• Current Assignee: Ground Transportation Systems Canada Incorporated
• Original Assignee: Thales Canada Incorporated (Thales SA)
• Inventors: Kimiagar, Ehsan, Whitwam, Firth
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US13/966,798
• Publication Number:
  US 20150051806A1
• Time in Patent Office: 587 Days
• Field of Search: 701/93, 701/408, 701/409, 701/500, 701/501, 701/502, 701/520
• US Class Current: 701/93
• CPC Class Codes: B60T 13/665 the systems being specially adapted for transferring two or more command signals, e.g. railway systems B60T13/662 takes precedence
• CPC Class Codes: B60T 17/228 for railway vehicles
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 7/126 Brakes for railway vehicles coming into operation in case of exceeding a predetermined speed self-acting brakes in general F16D59/00
• CPC Class Codes: B60T 7/128 Self-acting brakes of different types for railway vehicles B60T7/12 takes precedence; self-acting brakes in general F16D59/00
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope
• CPC Class Codes: G01C 21/185 for gravity
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A vehicle-based positioning system (VBPS) for a vehicle traversing a guideway, the VBPS includes an inertial navigation system (INS) on-board the vehicle, wherein the INS is configured to detect inertial parameters of the vehicle while the vehicle traverses the guideway, the detected inertial parameters including roll, pitch and yaw of the vehicle. The VBPS includes a guideway database, wherein the guideway database is configured to store inertial parameters of the guideway at a plurality of locations along the guideway, the stored inertial parameters include roll, pitch and yaw of the guideway. The VBPS further includes a vital on-board controller (VOBC), the VOBC is configured to determine a position of the vehicle based on a comparison of the detected inertial parameters with the stored inertial parameters. The VOBC is configured to limit comparison of the inertial parameters with the stored inertial parameters based on a latest checkpoint passed by the vehicle.

Claims

1. A vehicle-based positioning system (VBPS) for a vehicle traversing a guideway, the VBPS comprising:

an inertial navigation system (INS) on-board the vehicle, wherein the INS is configured to detect one or more inertial parameters of the vehicle while the vehicle traverses the guideway, the detected inertial parameters including roll, pitch and yaw of the vehicle;

a guideway database, wherein the guideway database is configured to store inertial parameters of the guideway corresponding to a plurality of locations along the guideway, the stored inertial parameters including roll, pitch and yaw of the guideway; and

a vital on-board controller (VOBC), the VOBC is configured to determine a position of the vehicle based on a comparison of the detected inertial parameters with the stored inertial parameters,

wherein the VOBC is configured to limit comparison of the inertial parameters with the stored inertial parameters based on a latest checkpoint passed by the vehicle.

2. The VBPS of claim 1, wherein the INS comprises at least one accelerometer and a plurality of gyroscopes.

3. The VBPS of claim 1, further comprising an automatic speed and braking control system, wherein the automatic speed and braking control system configured to adjust a speed of the vehicle in response to a speed signal generated by the VOBC as a function of distance traveled, time, and acceleration.

4. The VBPS of claim 3, wherein the VOBC is configured to determine a maximum allowed speed either from an external control system or from an internal database, and the VOBC is configured to control the speed of the vehicle not to exceed the maximum allowed speed based on the stored inertial parameters.

5. The VBPS of claim 1, wherein the INS is further configured to determine at least one of a bearing of the vehicle, a heading of the vehicle or an altitude of the vehicle.

6. The VBPS of claim 1, wherein the VBPS is configured to transmit the determined position of the vehicle to an external control system.

7. The VBPS of claim 1, wherein the VOBC is configured to update the guideway database based on the determined position.

8. A tangible, non-transitory computer readable medium, the computer readable medium comprising:

a processor; and

a memory containing instructions, the instructions configured to facilitate execution by the processor of the following steps;

detecting inertial parameters of a vehicle traversing a guideway, using an inertial navigation system (INS) on-board the vehicle, wherein the detected inertial parameters include roll, pitch and yaw of the vehicle;

comparing, using a vital on-board controller (VOBC), the detected inertial parameters with stored inertial parameters, stored in a guideway database, the stored inertial parameters include roll, pitch and yaw of the guideway;

limiting the comparing of the detected inertial parameters with the stored inertial parameters based on a last checkpoint passed by the vehicle; and

identifying a position of the vehicle based on the comparison.

9. The tangible, non-transitory computer readable medium of claim 8, wherein detecting the inertial parameters of vehicle comprises using at least one accelerometer and a plurality of gyroscopes.

10. The tangible, non-transitory computer readable medium of claim 8, wherein the instructions are further configured to facilitate execution of controlling a speed of the vehicle, using an automatic speed and braking control system, in response to a speed signal generated by the VOBC.

11. The tangible, non-transitory computer readable medium of claim 10, wherein the instructions are further configured to facilitate execution of:

receiving a maximum allowed speed from an external control system or internal database; and

generating the speed signal not to exceed the maximum allowed speed based on the stored inertial parameters.

12. The tangible, non-transitory computer readable medium of claim 8, wherein detecting the inertial parameters of vehicle comprises detecting at least one of a bearing of the vehicle, a heading of the vehicle or an altitude of the vehicle.

13. The tangible, non-transitory computer readable medium of claim 8, wherein the instructions are further configured to facilitate execution of transmitting the determined position of the vehicle to an external control system.

14. The tangible, non-transitory computer readable medium of claim 8, wherein the instructions are further configured to facilitate execution of updating the guideway database based on the determined position.

15. A method of determining a position of a vehicle traversing a guideway, the method comprising:

detecting inertial parameters of the vehicle traversing the guideway, using an inertial navigation system (INS) on-board the vehicle, wherein the detected inertial parameters include roll, pitch and yaw of the vehicle;

comparing, using a vital on-board controller (VOBC), the detected inertial parameters with stored inertial parameters, stored in a guideway database, the stored inertial parameters include roll, pitch and yaw of the guideway;

limiting the comparing of the detected inertial parameters with the stored inertial parameters based on a last checkpoint passed by the vehicle; and

identifying the position of the vehicle based on the comparison.

16. The method of claim 15, wherein detecting the inertial parameters of vehicle comprises using at least one accelerometer and a plurality of gyroscopes.

17. The method of claim 15, controlling a speed of the vehicle, using an automatic speed and braking control system, in response to a speed signal generated by the VOBC.

18. The method of claim 17, further comprising:

receiving a maximum allowed speed from an external control system; and

generating the speed signal not to exceed the maximum allowed speed based on the stored inertial parameters.

19. The method of claim 15, further comprising transmitting the determined position of the vehicle to an external control system.

20. The method of claim 15, further comprising updating the guideway database based on the determined position.