System and method for determining a position of a vehicle

• US 20060224308A1
• Filed: 08/19/2005
• Published: 10/05/2006
• Est. Priority Date: 03/31/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Hunt, Kenneth Edward, Schmidt, Mark Alvin, Holm, David Roy, Stephens, Scott Adam
• Granted Patent: US 7,647,177 B2
• Time in Patent Office: Days
• US Class Current: 701/207
• 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

Abstract

A time estimator determines a first aggregate elapsed time between the transmission of the first transmission signal to a first beacon and receipt of a return signal, a second aggregate elapsed time between the transmission of the first transmission signal to a second beacon and receipt of a return signal, and a third aggregate elapsed time between the transmission of the first transmission signal to a third beacon and receipt of a return signal. A bias compensator compensates for bias delay associated with at least one of the first transmitter, the first beacon, the second beacon and the third beacon. A converter converts the first aggregate elapsed time, the second aggregate elapsed time, and the third aggregate elapsed time into position curves. A data processor estimates a position of the vehicle at a confluence or intersection of the position curves.

Claims

1. A method for determining the position of a vehicle, the method comprising:

transmitting a first transmission signal from a transmitter at a vehicle toward one or more beacons associated with a work area;

determining a first aggregate elapsed time between the transmission of the first transmission signal to a first beacon and a return signal from the first beacon to the vehicle with compensation for bias delay associated with at least one of the transmitter and the first beacon;

converting the first aggregate elapsed time into a first position curve in at least two spatial dimensions for vehicle;

determining a second aggregate elapsed time between the transmission of the first transmission signal to a second beacon and a return signal from the second beacon to the vehicle with compensation for bias delay associated with at least one of the transmitter and the second beacon;

converting the second aggregate elapsed time into a second position curve in at least two spatial dimensions for vehicle;

determining a third aggregate elapsed time between the transmission of the first transmission signal to a third beacon and a return signal from the third beacon to the vehicle with compensation for bias delay associated with at least one of the transmitter and the third beacon;

converting the third aggregate elapsed time into a third position curve in at least two spatial dimensions for vehicle; and

estimating a position of the vehicle at a confluence or intersection of the first position curve, the second position curve, and the third position curve.

2. The method according to claim 1 wherein the estimating comprises assigning an approximately equal weight to the first position curve, the second position curve, and the third position curve to estimate the position of the vehicle.

3. The method according to claim 1 wherein the estimating comprises assigning differential weights to the first position curve, the second position curve, and the third position curve based on at least one probability density function for the first position curve, the second position curve and the third position curve to estimate the position of the vehicle.

4. The method according to claim 1 wherein the estimating comprises collecting a series of first position curves and averaging the series of first position curves over time;

collecting a series of second position curves and averaging the series of first position curves over time; and

collecting a series of third position curves and averaging the series of position curves over time to estimate the position of the vehicle.

5. The method according to claim 1 wherein the estimating comprises collecting a series of first position curves and fitting the first position curves to a generally linear progression over time, collecting a series of second position curves and fitting the second position curves to a generally linear progression over time, collecting a series of third position curves and fitting the third position curves to a generally linear progression over time in accordance with at least one of a least squares approach and a weighted least squares approach.

6. The method according to claim 1 wherein the first position curve is expressed as differential data to reflect only a change in the first position curve over time to minimize transmission of data associated with the beacons;

the second position curve is expressed as differential data to reflect only a change in the second position curve over time to minimize the transmission of data associated with the beacons;

the third position curve is expressed as differential data to reflect only a change in the third position curve over time to minimize the transmission of data associated with the beacons.

7. The method according to claim 1 wherein the differential data is transmitted from one beacon to another or between one beacon and the vehicle over a subcarrier channel associated with the beacons.

8. The method according to claim 1 wherein the differential data comprises an output of a radio frequency ranging system.

9. The method according to claim 1 further comprising:

measuring a frequency shift in the first transmission at one or more of the beacons to estimate a vehicular speed or vehicular velocity; and

discarding measured frequency shifts at any beacon that exceed a maximum vehicular velocity of the vehicle to reduce data processing requirements.

10. A system for determining the position of a vehicle, the system comprising:

a first transmitter for transmitting a first transmission signal from a transmitter at a vehicle toward one or more beacons associated with the work area;

a time estimator for determining a first aggregate elapsed time between the transmission of the first transmission signal to a first beacon and a return signal from the first beacon to the vehicle, a second aggregate elapsed time between the transmission of the first transmission signal to a second beacon and a return signal from the second beacon to the vehicle, a third aggregate elapsed time between the transmission of the first transmission signal to a third beacon and a return signal from the third beacon to the vehicle;

a bias compensator for compensation for bias delay associated with at least one of the transmitter, the first beacon, the second beacon and the third beacon;

a converter for converting the first aggregate elapsed time into a first position curve in at least two spatial dimensions for vehicle, the second aggregate elapsed time into a second position curve in at least two spatial dimensions for vehicle, and the third aggregate elapsed time into a third position curve in at least two spatial dimensions for vehicle; and

a data processor for estimating a position of the vehicle at a confluence or intersection of the first position curve, the second position curve, and the third position curve.

11. The system according to claim 10 wherein the data processor assigns an approximately equal weight to the first position curve, the second position curve, and the third position curve to estimate the position of the vehicle.

12. The system according to claim 10 wherein the data processor assigns differential weights to the first position curve, the second position curve, and the third position curve based on at least one probability density function for the first position curve, the second position curve and the third position curve to estimate the position of the vehicle.

13. The system according to claim 10 wherein the data processor collects a series of first position curves and averages the series of first position curves over time;

collects a series of second position curves and averages the series of first position curves over time; and

collects a series of third position curves and averages the series of position curves over time to estimate the position of the vehicle.

14. The system according to claim 10 wherein the data processor collects a series of first position curves and fits the first position curves to a generally linear progression over time, collects a series of second position curves and fits the second position curves to a generally linear progression over time, collects a series of third position curves and fits the third position curves to a generally linear progression over time in accordance with at least one of a least squares approach and a weighted least squares approach.

15. The system according to claim 10 wherein the first position curve is expressed as differential data to reflect only a change in the first position curve over time to minimize transmission of data associated with the beacons;

the second position curve is expressed as differential data to reflect only a change in the second position curve over time to minimize the transmission of data associated with the beacons;

the third position curve is expressed as differential data to reflect only a change in the third position over time to minimize the transmission of data associated with the beacons.

16. The system according to claim 10 wherein the differential data is transmitted from one beacon to another or between one beacon and the vehicle over a subcarrier channel associated with the beacons.

18. The system according to claim 18 further comprising:

a detector for measuring a frequency shift in the first transmission at one or more of the beacons to estimate a vehicular speed or vehicular velocity; and

a filtering module for discarding measured frequency shifts at any beacon that exceed a maximum vehicular velocity of the vehicle to reduce data processing requirements.

17. The system according to claim 18 wherein the differential data comprises an output of a radio frequency ranging system.