System and method for complex navigation using dead reckoning and GPS

• US 9,405,016 B2
• Filed: 11/04/2014
• Issued: 08/02/2016
• Est. Priority Date: 10/06/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Yim, Hyun Gu
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): GOLDMAN, RICHARD A
• Application Number:
  US14/532,541
• Publication Number:
  US 20160097862A1
• Time in Patent Office: 637 Days
• Field of Search: 701/468, 701/469, 701/445, 701/446, 701/447, 701/448, 701/470, 701/471, 701/479, 701/480, 342/357.31, 342/357.22, 342/357.23, 342/357.24
• US Class Current: 1/1
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

Provided are a system and method for complex navigation using dead reckoning and a global positioning system capable of enhancing robustness of positioning by compensating for discontinuity of GPS reception data. The system for complex navigation using dead reckoning (DR) and a global positioning system (GPS) includes a GPS receiving unit configured to receive GPS data, a DR unit configured to generate DR information by using a wheel speed, a steering angle, and a yaw rate, a buffer unit configured to store the DR information, and a filter unit configured to generate positioning information of a moving object by using at least one of output information from the GPS receiving unit and the DR information stored in the buffer unit.

Claims

1. A system for complex navigation using dead reckoning (DR) and a global positioning system (GPS), the system comprising:

a GPS receiving unit configured to receive GPS data;

a DR unit configured to generate DR information by using a wheel speed, a steering angle, and a yaw rate;

a buffer unit configured to store the DR information;

a filter unit configured to generate positioning information of a moving object by using at least one of output information from the GPS receiving unit and the DR information stored in the buffer unit; and

a fusion determining unit configured to

determine whether to fuse first location information of the moving object and second location information of the moving object,

determine whether a difference between the first location information and the second location information exceeds a preset expected error, and

determine, in response to the difference exceeding the expected error, that positioning is inaccurate and to generate positioning information of the moving object with only the second location information,

wherein the filter unit is further configured to generate, in response to the fusion determining unit generating positioning information using both the first location information and the second location information, positioning information of the moving object using both the first location information and the second location information.

2. The system of claim 1, wherein the fusion determining unit is further configured to determine whether to fuse the first location information and second location information using the following equation:

3. The system of claim 1, wherein the DR unit comprises:

a movement distance calculating unit configured to calculate a movement distance of the moving object by using the wheel speed;

a curvature calculating unit configured to calculate a running curvature of the moving object by using the yaw rate and the steering angle; and

an estimating unit configured to estimate positioning information of the moving object by using the calculated movement distance and the calculated running curvature.

4. The system of claim 3, wherein the DR unit further comprises:

a bias correcting unit configured to correct an offset bias of the yaw rate.

5. The system of claim 1, wherein the buffer unit is configured to store a preset number of pieces of DR information which have been generated at a point in time earlier than the current point in time.

6. The system of claim 1, wherein in response to the output information from the GPS receiving unit being input at a period of the system for complex navigation, the filter unit selects DR information synchronized with the output information from the GPS receiving unit, from the buffer unit in consideration of a time delay between the GPS receiving unit and the DR unit, and generates positioning information of the moving object by using the output information from the GPS receiving unit and the selected DR information.

7. The system of claim 1, wherein in response to the output information from the GPS receiving unit not being input at the period of the system for complex navigation, the filter unit generates positioning information of the moving object by using only the DR information.

8. The system of claim 6, wherein the filter unit is configured to update the DR information stored in the buffer unit based on the positioning information of the moving object generated by using the output information from the GPS receiving unit and the selected DR information.

9. The system of claim 6, further comprising:

a fusion determining unit configured to compare a difference between the output information from the GPS receiving unit and the selected DR information with an expected error, and determine whether to fuse the output information from the GPS receiving unit and the selected DR information.

10. The system of claim 9, wherein in response to the difference exceeding the expected error, the fusion determining unit determines to generate positioning information of the moving object by using only the selected DR information.

11. A system for complex navigation using dead reckoning (DR) and a global positioning system (GPS), the system comprising:

a GPS receiving unit configured to receive GPS data and provide a position of a visible satellite and pseudo-range information at every first period;

a DR unit configured to generate DR information at every second period by using a wheel speed, a steering angle, and a yaw rate;

a buffer unit configured to store a preset number of pieces of DR information which have been generated at a point in time earlier than the current point in time;

a filter unit configured to generate positioning information of a moving object at every third period by using at least one of output information from the GPS receiving unit and the DR information stored in the buffer unit; and

a fusion determining unit configured to

determine whether to fuse first location information of the moving object and second location information of the moving object,

determine whether a difference between the first location information and the second location information of the moving object exceeds a preset expected error, and

determine, in response to the difference exceeding the expected error, that positioning is inaccurate and to generate positioning information of the moving object with only the second location information,

wherein the filter unit is further configured to generate, in response to the fusion determining unit generating positioning information using both the first location information and the second location information, positioning information of the moving object using both the first location information and the second location information, and

wherein, in response to output information from the GPS receiving unit being input at a point in time corresponding to the third period, the filter unit selects DR information synchronized with the output information from the GPS receiving unit, from the buffer in consideration of a time delay between the GPS receiving unit and the DR unit, and generates positioning information of the moving object by using the output information from the GPS receiving unit and the selected DR information.

12. The system of claim 11, further comprising:

a fusion determining unit configured to compare a difference between the output information from the GPS receiving unit and the selected DR information with an expected error, and determine to generate positioning information of the moving object by using only the selected DR information in response to the difference exceeding the expected error.

13. A location estimating method of a system for complex navigation using dead reckoning (DR) and a global positioning system (GPS), the location estimating method comprising:

processing received GPS data to generate first location information of a moving object;

generating second location information of the moving object by using a wheel speed, a steering angle, and a yaw rate;

storing the second location information;

generating positioning information of the moving object by using at least one of the first location information and the stored second location information;

determining whether to fuse first location information of the moving object and second location information of the moving;

determining whether a difference between the first location information and the second location information exceeds a preset expected error;

determining, in response to the difference exceeding the expected error, that positioning is inaccurate and to generate positioning information of the moving object with only the second location information; and

generating, in response to the fusion determining unit generating positioning information using both the first location information and the second location information, positioning information of the moving object using both the first location information and the second location information.

14. The location estimating method of claim 13, wherein the generating of second location information comprises:

calculating a movement distance of the moving object by using the wheel speed;

calculating a running curvature of the moving object by using the yaw rate and the steering angle; and

estimating positioning information of the moving object by using the calculated movement distance and the calculated running curvature.

15. The location estimating method of claim 13, wherein the generating of positioning information of the moving object comprises:

in response to the first location information being generated at a period of the system for complex navigation, selecting second location information synchronized with the first location information in consideration of a time delay between the first location information and the second location information; and

generating positioning information of the moving object by using the first location information and the selected second location information.

16. The location estimating method of claim 13, wherein the generating of positioning information of the moving object comprises:

in response to the first location information not being generated at the period of the system for complex navigation, generating positioning information of the moving object by using only the second location information.

17. The location estimating method of claim 15, wherein the generating of positioning information of the moving object comprises:

updating the stored second location information based on the positioning information of the moving object generated by using the first location information and the selected second location information.

18. The location estimating method of claim 15, wherein the generating of positioning information of the moving object comprises:

comparing a difference between the first location information and the selected second location information with an expected error to determine whether to fuse the first location information and the selected second location information.

19. The location estimating method of claim 18, wherein in response to the difference exceeds the expected error, determining to generate positioning information of the moving object by using only the selected second location information.