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System and method for determining a position of a vehicle with compensation for noise or measurement error

  • US 20060224307A1
  • Filed: 08/19/2005
  • Published: 10/05/2006
  • Est. Priority Date: 03/31/2005
  • Status: Active Grant
First Claim
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1. A method for determining the position of a vehicle, the method comprising:

  • transmitting a transmission signal from a mobile transmitter at a vehicle to beacons associated with the work area;

    determining elapsed times for corresponding propagation paths between the vehicle and the beacons, each propagation path including at least one of a first propagation duration and a second propagation duration;

    the first propagation duration referring to a propagation time of the transmission signal from the vehicle to the particular beacon;

    the second propagation duration referring to a propagation time of a return signal from the particular beacon to the vehicle;

    compensating for noise or measurement error associated with a corresponding propagation path by invoking a linear fit scheme, the linear fit scheme applying a generally linear fit over fixed intervals of noisy measurements such that the noisy position measurements generally conform to a linear portion of a path plan of a vehicle; and

    estimating a position of a vehicle at a confluence or intersection of the position curves or temporal curves based on elapsed times for the propagation paths.

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