SYSTEM AND METHOD OF DETERMINING AN UNAMBIGUOUS HEADING DIRECTION OF A VEHICLE

• US 20130211716A1
• Filed: 07/19/2011
• Published: 08/15/2013
• Est. Priority Date: 07/20/2010
• Status: Active Grant

• Current Assignee: Leica Geosystems AG (Hexagon AB)
• Original Assignee: Leica Geosystems AG (Hexagon AB)
• Inventors: Kellar, William James
• Granted Patent: US 8,798,925 B2
• Time in Patent Office: Days
• US Class Current: 701/472
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

An unambiguous heading direction is calculated to determine the forward/reverse state of a vehicle. A heading alignment error is determined at step 100, being the difference between a GNSS direction of motion and the unresolved IMU heading of the vehicle. The heading alignment error is adjusted by 180° to be within a predetermined range at step 200. The unresolved IMU heading of the vehicle 10 is adjusted using the heading alignment error to determine an ambiguous error corrected IMU heading at step 300. Step 400 determines whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle. The unambiguous heading direction is calculated at step 500 by offsetting the ambiguous error corrected IMU heading by 180 degrees if the ambiguous error corrected IMU heading is substantially opposite the true direction of the nose the vehicle of the vehicle. The forward/reverse state is determined by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.

Claims

1. A method of determining an unambiguous heading direction of a vehicle, the method including:

determining a heading alignment error being the difference between a Global Navigation Satellite System (GNSS) direction of motion of the vehicle and an unresolved Inertial Measurement Unit (IMU) heading of the vehicle;

adjusting the heading alignment error by 180 degrees to be within a predetermined range if the error is outside the predetermined range;

adjusting the unresolved IMU heading of the vehicle using the heading alignment error;

determining whether the unresolved IMU heading, after heading alignment error adjustment, is substantially in the true direction of the nose of the vehicle or substantially opposite to the true direction of the nose of the vehicle; and

calculating an unambiguous heading direction by offsetting the unresolved IMU heading, after heading alignment error adjustment, by 180 degrees if the unresolved IMU heading is substantially opposite to the true direction of the nose of the vehicle.

2. The method of claim 1, including determining if the vehicle is travelling in forward or reverse by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.

3. The method of claim 1, wherein adjusting the unresolved IMU heading of the vehicle using the heading alignment error comprises calculating an ambiguous error corrected IMU heading using the heading alignment error.

4. The method of claim 3, wherein the unambiguous heading direction is calculated as being either:

the ambiguous error corrected IMU heading;

or

the ambiguous error corrected IMU heading offset by 180 degrees, if the ambiguous error corrected IMU heading was determined to be substantially opposite to the true direction of the nose of the vehicle.

5. The method of claim 4, wherein determining whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle or substantially opposite to the true direction of the nose of the vehicle preferably includes approximating the true direction of the nose of the vehicle using one or more absolute heading tests or relative vehicle motion tests.

6. The method of claim 5, including comparing the approximated true direction of the nose of the vehicle with the ambiguous error corrected IMU heading.

7. The method of claim 1, including determining that the vehicle is travelling in reverse if the unambiguous heading direction is in substantially the opposite direction to the GNSS direction of motion.

8. A method of determining if a vehicle is travelling forward or in reverse, the method including:

receiving a Global Navigation Satellite System (GNSS) direction of motion for the vehicle from a GNSS unit of the vehicle;

receiving an unresolved Inertial Measurement Unit (IMU) heading of the vehicle from an IMU of the vehicle;

determining a heading alignment error being the difference between the GNSS direction of motion and the unresolved IMU heading;

adjusting the heading alignment error by 180 degrees to be within a predetermined range if the heading alignment error is outside the predetermined range;

calculating an ambiguous error corrected IMU heading using the heading alignment error;

determining whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle or substantially opposite to the true direction of the nose of the vehicle;

calculating an unambiguous heading direction being either;

the ambiguous error corrected IMU heading;

or

the ambiguous error corrected IMU heading offset by 180 degrees, if the ambiguous error corrected IMU heading was determined to be substantially opposite to the true direction of the nose of the vehicle; and

comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle, thereby to determine if the vehicle is travelling forward or in reverse.

9. The method of claim 8, including determining that the vehicle is travelling in reverse if the unambiguous heading direction is in substantially the opposite direction to the GNSS direction of motion.

10. The method of claim 8, wherein determining whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle or substantially opposite to the true direction of the nose of the vehicle includes approximating the true direction of the nose of the vehicle using one or more absolute heading tests or relative vehicle motion tests.

11. The method of claim 10, including comparing the approximated true direction of the nose of the vehicle with the ambiguous error corrected IMU heading.

12. A method of clamping a heading alignment error, the method including:

determining a heading alignment error being the difference between a GNSS direction of motion of the vehicle and an unresolved IMU heading of the vehicle;

adjusting the heading alignment error by 180 degrees to be within a predetermined range if the heading alignment error is outside the predetermined range.

13. The method of claim 12, including testing whether the heading alignment error is within the predetermined range of between ≧

−

90 degrees and ≦

+90 degrees.

14. A system for use in determining an unambiguous heading direction of a vehicle, the system including:

a GNSS unit mounted to the vehicle, the GNSS unit operable to calculate the direction of motion of the vehicle;

an IMU unit mounted to the vehicle, the IMU unit operable to calculate an unresolved IMU heading of the vehicle;

a processing module including a processor programmed to;

determine a heading alignment error being the difference between the GNSS direction of motion and the unresolved IMU heading;

adjust the heading alignment error by 180 degrees to be within a predetermined range if the error is outside the predetermined range;

adjust the unresolved IMU heading using the heading alignment error, determining whether the unresolved IMU heading is substantially in the true direction of the nose of the vehicle or substantially opposite to the true direction of the nose of the vehicle;

calculate an unambiguous heading by offsetting the unresolved IMU heading by 180 degrees if the unresolved IMU heading is substantially opposite to the true direction of the nose of the vehicle.

15. The system of claim 14, wherein the processor is programmed to adjust the unresolved IMU heading by calculating an ambiguous error corrected IMU heading using the heading alignment error.

16. The system of claim 15, wherein the processor is programmed to calculate the unambiguous heading direction being either:

the ambiguous error corrected IMU heading;

or

the ambiguous error corrected IMU heading offset by 180 degrees, if the ambiguous error corrected IMU heading was determined to be substantially in the opposite direction to the true direction of the nose of the vehicle.

17. The system of claim 16, wherein the processor is programmed to determine whether the vehicle is travelling in forward or reverse by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.