Navigation system and method

• US 9,063,211 B2
• Filed: 08/30/2013
• Issued: 06/23/2015
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Autonomous Tractor Corporation
• Original Assignee: Autonomous Tractor Corporation
• Inventors: Anderson, Terry, Cornelius, Robert S., Artner, Frank
• Primary Examiner(s): PHAN, HAU VAN
• Application Number:
  US14/014,543
• Publication Number:
  US 20140060949A1
• Time in Patent Office: 662 Days
• Field of Search: 180/167, 180/168, 701/400, 701/445, 701/409, 701/470, 701/480, 701/412, 701/408, 701/495
• US Class Current: 1/1
• CPC Class Codes: G01C 21/04 by terrestrial means G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 1/022 Means for monitoring or calibrating
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: Y10S 903/902 Prime movers comprising electrical and internal combustion motors

Abstract

A navigation system and associate methods are described that include a plurality of fixed terrestrial based reference devices that calibrate the system by tracking positional error between the fixed terrestrial based reference devices. A navigation system and associated methods are also described that include a laser positioning system. A navigation system and associated methods are described that include an RF positioning system. In one example, the laser positioning system, and the RF positioning system cross check one another to ensure reliability and accuracy of a position measurement.

Claims

1. A vehicle navigation system, comprising:

a laser positioning system, including a laser mounted on a vehicle, and a stationary reflector mounted in at least one reference location;

a radio frequency positioning system, including a clock to time radio signals between a transceiver mounted on the vehicle, and the at least one reference location, wherein the laser positioning system is configured to calibrate the radio frequency positioning system; and

a plurality of reference devices to place at fixed locations adjacent to a navigation area, wherein each reference device includes a laser reflector to interact with a laser on the vehicle, and a radio frequency transponder to interact with a radio frequency transceiver on the vehicle.

2. The vehicle navigation system of claim 1, wherein the plurality of reference devices are solar powered.

3. The vehicle navigation system of claim 1, wherein the radio frequency positioning system operates at approximately 150 MHz.

4. The vehicle navigation system of claim 1, wherein the plurality of reference devices include focused radio frequency antennae.

5. A method of navigating an autonomous vehicle, comprising:

sending a radio frequency signal from a transceiver on a vehicle to two or more transceivers on corresponding two or more land based fixed reference devices;

detecting a returned signal from the two or more transceivers and calculating a radio frequency referenced vehicle position with respect to the land based fixed reference devices;

sending a laser beam from a laser source mounted on the vehicle to check for potential obstacles in a path of the vehicle; and

processing laser based data and radio frequency data to determine vehicle navigation parameters.

6. The method of claim 5, wherein sending a radio frequency signal includes sending a VHF signal.