Navigation system and method

• US 9,689,963 B2
• Filed: 06/18/2015
• Issued: 06/27/2017
• 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): Sweeney, Brian P
• Application Number:
  US14/743,724
• Publication Number:
  US 20150293203A1
• Time in Patent Office: 740 Days
• Field of Search: 701518
• 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:

at least two vehicle mounted radio frequency transceivers spaced apart from one another on a vehicle;

a plurality of reference devices to place at a plurality of fixed terrestrial reference locations, to define a circumference of a navigation area, wherein each reference device includes a fixed radio frequency transceiver to interact with the vehicle mounted radio frequency transceivers and with the other reference devices of the plurality of reference devices;

a calibration system located on the plurality of reference devices, wherein a location error between the plurality of reference devices is tracked and used to calibrate actual locations of the plurality of reference devices and the at least two vehicle mounted radio frequency transceivers within the navigation area; and

wherein the calibration system is configured to track an electronic drift in position of the plurality of reference devices at fixed terrestrial reference locations, and use the electronic drift to provide calibration for the actual locations.

2. The vehicle navigation system of claim 1, wherein the vehicle mounted radio frequency transceivers and the fixed radio frequency transceivers include VHF transceivers.

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

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

5. A vehicle navigation system, comprising:

at least two vehicle mounted radio frequency transceivers spaced apart from one another on a vehicle, each transceiver including a local clock and time of flight calculation circuitry;

a plurality of reference devices to place at a plurality of fixed terrestrial reference locations, to define a circumference of a navigation area, wherein each reference device includes a fixed radio frequency transceiver to interact with the vehicle mounted radio frequency transceivers and with the other reference devices of the plurality of reference devices; and

a calibration system located on the plurality of reference devices, wherein a location error between the plurality of reference devices is tracked and used to calibrate actual locations of the plurality of reference devices and the at least two vehicle mounted radio frequency transceivers within the navigation area; and

wherein the calibration system is configured to track an electronic drift in position of the plurality of reference devices at fixed terrestrial reference locations, and use the electronic drift to provide calibration for the actual locations.

6. The vehicle navigation system of claim 5, wherein the vehicle mounted radio frequency transceivers and the fixed radio frequency transceivers include VHF transceivers.

7. The vehicle navigation system of claim 5, wherein the plurality of reference devices are solar powered.

8. The vehicle navigation system of claim 5, wherein the plurality of reference devices include focused radio frequency antennae.

9. A vehicle navigation system, comprising:

at least two vehicle mounted radio frequency transceivers operating at approximately 150 MHz, and spaced apart from one another on a vehicle;

a plurality of reference devices to place at a plurality of fixed terrestrial reference locations, to define a circumference of a navigation area, wherein each reference device includes a fixed radio frequency transceiver to interact with the vehicle mounted radio frequency transceivers and with the other reference devices of the plurality of reference devices;

a calibration system located on the plurality of reference devices, wherein a location error between the plurality of reference devices is tracked and used to calibrate actual locations of the plurality of reference devices and the at least two vehicle mounted radio frequency transceivers within the navigation area; and

wherein the calibration system is configured to track an electronic drift in position of the plurality of reference devices at fixed terrestrial reference locations, and use the electronic drift to provide calibration for the actual locations.

10. The vehicle navigation system of claim 9, wherein each of the plurality of reference devices includes a unique identification number stored in local circuitry.

11. The vehicle navigation system of claim 9, wherein each of the plurality of reference devices includes an analog to digital conversion circuit.

12. The vehicle navigation system of claim 9, wherein each transceiver includes circuitry to calculate distance using interferometry.

13. The vehicle navigation system of claim 9, wherein each transceiver includes circuitry to calculate distance using both time of flight and interferometry.