Combined relative and absolute positioning method and apparatus

• US 5,311,195 A
• Filed: 08/30/1991
• Issued: 05/10/1994
• Est. Priority Date: 08/30/1991
• Status: Expired due to Term

• Current Assignee: Tele Atlas North America (TomTom NV)
• Original Assignee: Etak, Inc. (TomTom NV)
• Inventors: Poppen, Richard F., Mathis, Darrell L., Milnes, Kenneth A.
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US07/753,190
• Time in Patent Office: 984 Days
• Field of Search: 342/352, 342/357, 342/388, 342/389, 342/391, 342/396, 342/397, 342/417, 342/419, 342/420, 342/450, 342/451, 342/453, 342/454, 342/457, 342/463, 342/464, 342/465
• US Class Current: 342/357.29
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A navigation system comprising a relative positioning system (RPS) with dead reckoning and map matching and an absolute positioning system (APS) is provided and operated in such a manner that APS position information is used for updating RPS position and contour of equal probability (CEP) information as required. The APS may comprise a Loran-C or a global positioning system (GPS). Different criteria are used for resetting the RPS depending on whether or not the navigation system comprises a Loran-C or a GPS due to the different levels of precision of the Loran-C and the GPS. When the RPS is reset or updated, it is updated to the current APS position with its offset, if any. Its contour of equal probability (CEP) may also be adjusted.

Claims

1. A method of operating a navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and an absolute positioning system (APS) comprising the steps of:

a. acquiring current RPS position information, including information on the validity of the RPS position information, from the RPS;

b. acquiring current APS position information, including information on the validity of the APS position information, from the APS;

c. evaluating the RPS and the APS position information acquired in said steps (a) and (b);

d. updating the RPS position information such that the updated RPS position information is based on the then current APS position information without regard to the then current RPS position information if required by the results of said step (c); and

e. repeating said steps (a) through (d).

3. A method according to claim 1 comprising the step of:

f. repeating said steps (a) through (c) if the APS position information is not valid.

4. A method according to claim 1 comprising the step of:

f. relocating the current RPS position of the vehicle to the current APS position of the vehicle if the APS position information is valid.

5. A method according to claim 1 comprising the step of:

f. computing an offset between the RPS position of a vehicle and the APS position of a vehicle; and

wherein said step (d) comprises the step of;

g. relocating the current RPS position of the vehicle to the current APS position of the vehicle including the offset computed in step (f) if the APS position information is valid.

6. A method according to claim 1 wherein said step (c) comprises the step of:

f. generating a signal indicating that the current APS position information is valid when;

i. the APS receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the APS reported position of a vehicle and the current RPS reported position of a vehicle is within a predetermined multiple of the variance of a predetermined number of previous offsets; and

iii. the current offset between the current APS position of a vehicle and the current RPS position of the vehicle is less than a predetermined magnitude.

7. A method according to claim 1 wherein said step (a) comprises the steps of:

f. acquiring the current RPS position of a vehicle; and

g. acquiring information on the positional uncertainty of the RPS position position of a vehicle;

said step (b) comprises the steps of;

h. acquiring the current APS position of a vehicle; and

i. acquiring information on the positional uncertainty of the APS position of a vehicle; and

said step (d) comprises the steps of;

j. relocating the current RPS position of the vehicle to the current APS position of the vehicle; and

k. setting the RPS positional uncertainty of the vehicle to a function f₂ of APS validity, APS positional uncertainty of the vehicle, and RPS validity.

8. A method according to claim 1 wherein said step (a) comprises the steps of:

f. acquiring the current RPS position of a vehicle; and

g. acquiring the RPS contour of equal probability (CEP);

said step (b) comprises the steps of;

h. acquiring the current APS position of a vehicle; and

i. acquiring the APS dilution of precision (DOP); and

said step (d) comprises the steps of;

j. relocating the current RPS position of the vehicle to the current APS position of the vehicle; and

k. setting the RPS contour of equal probability (CEP) equal to a function f₂ of APS validity, APS dilution of precision error factor (DOP), and RPS validity.

9. A method according to claim 1 wherein said step (a) comprises the steps of:

f. acquiring the RPS position of a vehicle; and

g. acquiring the RPS contour of equal probability (CEP);

said step (b) comprises the steps of;

h. acquiring the APS position of a vehicle; and

i. acquiring the APS dilution of precision (DOP);

said step (c) comprises the steps of;

j. computing an APS CEP as a function f₁ of APS validity and an APS dilution of precision error factor (DOP);

k. computing an APS area W₁ as a function of APS validity, the APS CEP, and the RPS validity;

l. computing an RPS area W₂ as a function of RPS validity, RPS CEP, and APS validity; and

m. evaluating whether the RPS area W₂ overlaps the APS area W₁ ; and

said step (d) comprises the steps of;

n. repeating said steps (a) through (m) when the RPS area W₂ overlaps the APS area W₁ ; and

o. relocating the current RPS position of a vehicle to the current APS position of a vehicle if the RPS area W₂ does not overlap the APS area W₁ ; and

p. setting the RPS CEP to a function f₂ of APS validity, APS DOP, and RPS validity if the RPS area W₂ does not overlap the APS area W₁.

10. A method according to claim 6 wherein said step (o) comprises the steps of:

q. computing an offset between the RPS position of a vehicle and the APS position of a vehicle; and

r. relocating the current RPS position of the vehicle to the current APS position of the vehicle including the offset computed in said step (q).

17. A method according to claim 1 wherein said step (a) comprises the steps of:

f. acquiring the current RPS position of a vehicle; and

g. acquiring information on the positional uncertainty of the RPS position position of a vehicle;

said step (b) comprises the steps of;

h. acquiring the current Loran-C position of a vehicle; and

i. acquiring information on the positional uncertainty of the Loran-C position of a vehicle; and

said step (d) comprises the steps of;

j. relocating the current RPS position of the vehicle to the current Loran-C position of the vehicle; and

k. setting the RPS positional uncertainty of the vehicle to a function f₂ of Loran-C validity, Loran-C positional uncertainty of the vehicle, and RPS validity.

18. A method according to claim 1 wherein said step (b) comprises the step of:

f. acquiring current Loran-C position information, including information on the validity of the Loran-C position information, from a Loran-C; and

said step (c) comprises the step of;

g. generating a signal indicating that the current Loran-C position information is valid when;

i. the Loran-C receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the Loran-C reported position of a vehicle and the current RPS reported position of a vehicle is within a predetermined multiple of the variance of a predetermined number of previous offsets; and

iii. the current offset between the current Loran-C position of a vehicle and the current RPS position of the vehicle is less than a predetermined magnitude; and

h. generating a signal indicating whether or not the RPS is lost; and

said step (d) comprises the step of;

i. relocating the current RPS position of a vehicle to the Loran-C position of the vehicle when the Loran-C position information is reported to be valid and the RPS is reported as lost.

19. A method according to claim 1 wherein said step (b) comprises the step of:

f. acquiring current Loran-C position information, including information on the validity of the Loran-C position information, from a Loran-C receiver; and

said step (c) comprises the step of;

g. generating a signal indicating that the APS position information is valid when;

i. the Loran-C receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the Loran-C reported position of a vehicle is within three (3) times the variance of a predetermined number of previous offsets; and

iii. the current offset between the current Loran-C position of a vehicle and the current RPS position of the vehicle is less than 1000 feet; and

h. generating a signal indicating whether or not the RPS is lost; and

said step (d) comprises the step of;

i. relocating the current RPS position of a vehicle to the Loran-C position of the vehicle when the Loran-C position information is reported to be valid and the RPS is reported as lost.

20. A method according to claim 1 wherein said step (a) comprises the steps of:

f. acquiring the RPS position of a vehicle; and

g. acquiring the RPS contour of equal probability (CEP);

said step (b) comprises the steps of;

h. acquiring the Loran-C position of a vehicle; and

i. acquiring the Loran-C dilution of precision (DOP);

said step (c) comprises the steps of;

j. computing a Loran-C CEP as a function f₁ of Loran-C validity and a Loran-C dilution of precision error factor (DOP);

k. computing a Loran-C area W₁ as a function of Loran-C validity, the Loran-C CEP, and the RPS validity;

l. computing an RPS area W₂ as a function of RPS validity, RPS CEP, and Loran-C validity; and

m. evaluating whether the RPS area W₂ overlaps the Loran-C area W₁ ; and

said step (d) comprises the steps of;

n. repeating said steps (a) through (m) when the RPS area W₂ overlaps the Loran-C area W₁ and

o. relocating the current RPS position of a vehicle to the current Loran-C position of a vehicle if the RPS area W₂ does not overlap the Loran-C area W₁ ; and

p. setting the RPS CEP to a function f₂ of Loran-C validity, Loran-C DOP, and RPS validity if the RPS area W₂ does not overlap the Loran-C area W₁.

21. A method according to claim 20 wherein said step (j) comprises the step of:

q. computing a Loran-C CEP as a function of the product of a predetermined constant and the Loran-C DOP.

22. A method according to claim 20 wherein said step (k) and said step (l) comprise the step of:

q. computing Loran-C area W₁ and RPS area W₂ of zero extent, respectively.

23. A method according to claim 20 wherein said step (p) comprises the step of:

q. setting the RPS CEP to a function f₂ which is equal to the function f₁ of step (j).

31. A method according to claim 1 wherein said step (a) comprises the steps of:

f. acquiring the RPS position of a vehicle; and

g. acquiring the RPS contour of equal probability (CEP);

said step (b) comprises the steps of;

h. acquiring the Global Positioning System (GPS) position of a vehicle; and

i. acquiring the GPS dilution of precision (DOP);

said step (c) comprises the steps of;

j. computing a GPS CEP as a function f₁ of GPS validity and a GPS dilution of precision error factor (DOP);

k. computing a GPS area W₁ as a function of GPS validity, the GPS CEP, and the RPS validity;

l. computing an RPS area W₂ as a function of RPS validity, RPS CEP, and GPS validity; and

m. evaluating whether the RPS area W₂ overlaps the GPS area W₁ ; and

said step (d) comprises the steps of;

n. repeating said steps (a) through (m) when the RPS area W₂ overlaps the GPS area W₁ and

o. relocating the current RPS position of a vehicle to the current GPS position of a vehicle if the RPS area W₂ does not overlap the GPS area W₁ ; and

p. setting the RPS CEP to a function f₂ of GPS validity, GPS DOP, and RPS validity if the RPS area W₂ does not overlap the GPS area W.

32. A method according to claim 1 wherein said step (c) comprises the step of:

s. generating a signal indicating that the GPS position information is invalid when less than three satellites are used to acquire it and valid when three or more satellites are used to acquire it.

33. A method according to claim 31 wherein said step (j) comprises the step of:

s. computing a GPS CEP as a function f₁ of the number of satellites used in said step (h).

34. A method according to claim 33 wherein said step (j) comprises the step of:

q. computing a GPS CEP as a function of f₁ where f₁ is;

i. infinity when the number of satellites is less than 3;

ii. equal to the product of a first predetermined number and the GPS DOP when the number of satellites is equal to 3; and

iii. equal to the product of a second predetermined number and the GPS DOP when the number of satellites is greater than 3.

35. A method according to claim 31 wherein said step (c) comprises the step of:

q. acquiring an indication of whether or not said RPS is lost or not lost;

said step (j) comprises the step of;

r. computing a (GPS) CEP as a function f₁ of the number of satellites used in said step (h); and

said step (k) comprises the step of;

s. computing a GPS area W₁ as a function of W₁ where W₁ is;

i. infinity when the number of satellites is less than 3 and there is an indication that the RPS is lost;

ii. infinity when the number of satellites is less than 3 and there is an indication that the RPS is not lost;

iii. equal to the GPS CEP when the number of satellites is equal to three and there is an indication that the RPS is lost;

iv. infinity when the number of satellites is equal to three and there is an indication that the RPS is not lost;

v. equal to the GPS CEP when the number of satellites is greater than three and there is an indication that the RPS is lost; and

vi. equal to twice the GPS CEP when the number of satellites is greater than three and there is an indication that the RPS is not lost.

36. A method according to claim 31 wherein said step (l) comprises the step of:

q. computing an RPS area W₂ of zero extent.

37. A method according to claim 31 wherein said step (p) comprises the step of:

q. setting a GPS CEP to a function f₂ where f₂ is equal to the GPS area W₁.

2. A method of operating a navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and an absolute positioning system (APS) comprising the steps of:

a. acquiring current RPS position information, including information on the positional uncertainty of the RPS position information, from the RPS;

b. acquiring current APS position information, including information on the positional uncertainty of the APS position information, from the APS;

c. evaluating the RPS and the APS position information acquired in said steps (a) and (b);

d. updating the RPS position information such that the updated RPS position information is based on the then current APS position information without regard to the then current RPS position information if required by the results of said step (c); and

e. repeating said steps (a) through (d).

11. A method of operating a navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and a Loran-C comprising the steps of:

a. acquiring current RPS position information, including information on the validity of the RPS position information, from the RPS;

b. acquiring current Loran-C position information, including information on the validity of the Loran-C position information, from the Loran-C;

c. evaluating the RPS and the Loran-C position information acquired in said steps (a) and (b);

d. updating the RPS position information such that the updated RPS position information is based on the then current Loran-C position information without regard to the then current RPS position information if required by the results of said step (c); and

e. repeating said steps (a) through (d).

13. A method according to claim 11 comprising the step of:

f. repeating said steps (a) through (c) if the Loran-C position information is not valid.

14. A method according to claim 11 comprising the step of:

f. relocating the current RPS position of the vehicle to the current Loran-C position of the vehicle if the Loran-C position information is valid.

15. A method according to claim 11 comprising the step of:

f. computing an offset between the RPS position of a vehicle and the Loran-C position of a vehicle; and

wherein said step (d) comprises the step of;

g. relocating the current RPS position of the vehicle to the current Loran-C position of the vehicle including the offset computed in step (f) if the Loran-C position information is valid.

16. A method according to claim 11 wherein said step (c) comprises the step of:

f. generating a signal indicating that the current Loran-C position information is valid when;

i. the Loran-C receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the Loran-C reported position of a vehicle and the current RPS reported position of a vehicle is within a predetermined multiple of the variance of a predetermined number of previous offsets; and

iii. the current offset between the current Loran-C position of a vehicle and the current RPS position of the vehicle is less than a predetermined magnitude.

12. A method of operating a navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and a Loran-C comprising the steps of:

a. acquiring current RPS position information, including information on the positional uncertainty of the RPS position information, from the RPS;

b. acquiring current Loran-C position information, including information on the positional uncertainty of the Loran-C position information, from the Loran-C;

c. evaluating the RPS and the Loran-C position information acquired in said steps (a) and (b);

d. updating the RPS position information such that the updated RPS position information is based on the then current Loran-C position information without regard to the then current RPS position information if required by the results of said step (c); and

e. repeating said steps (a) through (d).

24. A method of operating a navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and a Global Position System (GPS) comprising the steps of:

a. acquiring current RPS position information, including information on the validity of the RPS position information, from the RPS;

b. acquiring current GPS position information, including information on the validity of the GPS position information, from the GPS;

c. evaluating the RPS and the GPS position information acquired in said steps (a) and (b);

d. updating the RPS position information such that the updated RPS position information is based on the then current GPS position information without regard to the then current RPS position information if required by the results of said step (c); and

e. repeating said steps (a) through (d).

26. A method according to claim 24 comprising the step of:

f. repeating said steps (a) through (c) if the GPS position information is not valid.

28. A method according to claim 24 comprising the step of:

f. computing an offset between the RPS position of a vehicle and the GPS position of a vehicle; and

wherein said step (d) comprises the step of;

g. relocating the current RPS position of the vehicle to the current GPS position of the vehicle including the offset computed in step (f) if the GPS position information is valid.

29. A method according to claim 24 wherein said step (c) comprises the step of:

f. generating a signal indicating that the current GPS position information is valid when;

i. the GPS receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the GPS reported position of a vehicle and the current RPS reported position of a vehicle is within a predetermined multiple of the variance of a predetermined number of previous offsets; and

iii. the current offset between the current GPS position of a vehicle and the current RPS position of the vehicle is less than a predetermined magnitude.

30. A method according to claim 24 wherein said step (a) comprises the steps of:

f. acquiring the current RPS position of a vehicle; and

g. acquiring information on the positional uncertainty of the RPS position position of a vehicle;

said step (b) comprises the steps of;

h. acquiring the current GPS position of a vehicle; and

i. acquiring information on the positional uncertainty of the GPS position of a vehicle; and

said step (d) comprises the steps of;

j. relocating the current RPS position of the vehicle to the current GPS position of the vehicle; and

k. setting the RPS positional uncertainty of the vehicle to a function f₂ of GPS validity, GPS positional uncertainty of the vehicle, and RPS validity.

25. A method of operating a navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and a Global Positioning System (GPS) comprising the steps of:

a. acquiring current RPS position information, including information on the positional uncertainty of the RPS position information, from the RPS;

b. acquiring current GPS position information, including information on the positional uncertainty of the GPS position information, from the GPS;

c. evaluating the RPS and the GPS position information acquired in said steps (a) and (b);

d. updating the RPS position information such that the updated RPS position information is based on the then current GPS position information without regard to the then current RPS position information if required by the results of said step (c); and

e. repeating said steps (a) through (d).

27. A method according to claim 25 comprising the step of:

f. relocating the current RPS position of the vehicle to the current GPS position of the vehicle if the GPS position information is valid.

38. A navigation system comprising a relative positioning system (RPS), said RPS including means for dead reckoning with map matching, and an absolute positioning system (APS) comprising:

means for acquiring current RPS position information, including information on the validity of the RPS position information, from the RPS;

means for acquiring current APS position information, including information on the validity of the APS position information, from the APS;

means for evaluating said RPS and said APS position information; and

means for updating the RPS position information such that the updated RPS position information is based on the then current APS position information without regard to the then current RPS position information if required by said evaluating means.

39. A system according to claim 38 wherein said means for evaluating comprises:

means for acquiring new RPS and APS position information if the current APS position information is not valid.

40. A system according to claim 38 wherein said updating means comprises:

means for relocating the current RPS position of the vehicle to the current APS position of the vehicle if the APS position information is valid.

41. A system according to claim 38 wherein said means for evaluating comprises:

means for computing an offset between the RPS position of a vehicle and the APS position of a vehicle; and

said means for updating comprises;

means for relocating the current RPS position of the vehicle to the current APS position of the vehicle including said offset if the APS position information is valid.

42. A method according to claim 38 wherein said means for acquiring said current RPS position information comprises:

means for acquiring the current RPS position of a vehicle; and

means for acquiring the RPS contour of equal probability (CEP);

said means for acquiring current APS position information comprises;

means for acquiring the current APS position of a vehicle; and

means for acquiring the APS dilution of precision (DOP); and

said updating means comprises;

means for relocating the current RPS position of the vehicle to the current APS position of the vehicle; and

means for setting the RPS contour of equal probability (CEP) equal to a function f₂ of APS validity, APS dilution of precision error factor (DOP), and RPS validity.

43. A system according to claim 38 wherein said means for acquiring said current RPS position information comprises:

means for acquiring the RPS position of a vehicle; and

means for acquiring the RPS contour of equal probability (CEP);

said means for acquiring current APS position information comprises;

means for acquiring the APS position of a vehicle; and

means for acquiring the APS dilution of precision (DOP);

said evaluating means comprises;

means for computing an APS CEP as a function f₁ of APS validity and an APS dilution of precision error factor (DOP);

means for computing an APS area W₁ as a function of APS validity, the APS CEP, and the RPS validity;

means for computing an RPS area W₂ as a function of RPS validity, RPS CEP, and APS validity; and

means for evaluating whether the RPS area W₂ overlaps the APS area W₁ ; and

said updating means comprises the steps of;

means for acquiring new RPS and APS position information when the RPS area W₂ overlaps the APS area W₁ and

means for relocating the current RPS position of a vehicle to the current APS position of a vehicle if said RPS area W₂ does not overlap the APS area W₁ ; and

means for setting the RPS CEP to a function f₂ of APS validity, APS DOP, and RPS validity if the RPS area W₂ does not overlap the APS area W₁.

44. A system according to claim 43 wherein said relocating means comprises:

means for computing an offset between the RPS position of a vehicle and the APS position of a vehicle; and

means for relocating the current RPS position of the vehicle to the current APS position of the vehicle including said offset.

45. A system according to claim 38 wherein said means for acquiring current APS position information comprises:

means for acquiring current Loran-C position information from a Loran-C; and

said evaluating means comprises;

means for generating a signal indicating that the current Loran-C position information is valid when;

i. the Loran-C receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the Loran-C reported position of a vehicle and the current RPS reported position of a vehicle is within a predetermined multiple of the variance of a predetermined number of previous offsets; and

iii. the current offset between the current Loran-C position of a vehicle and the current RPS position of the vehicle is less than a predetermined magnitude; and

means for generating a signal indicating whether or not the RPS is lost; and

said updating means comprises;

means for relocating the current RPS position of a vehicle to the Loran-C position of the vehicle when the Loran-C position information is reported to be valid and the RPS is reported as not lost.

46. A system according to claim 38 wherein said means for acquiring current APS position information comprises:

means for acquiring current Loran-C position information from a Loran-C; and

said evaluating means comprises;

means for generating a signal indicating that the APS position information is valid when;

i. the Loran-C receiver reports that the current reported position of a vehicle is valid;

ii. the current offset between the Loran-C reported position of a vehicle is within three (3) times the variance of a predetermined number of previous offsets; and

iii. the current offset between the current Loran-C position of a vehicle and the current RPS position of the vehicle is less than 1000 feet; and

means for generating a signal indicating whether or not the RPS is lost; and

said updating means comprises;

means for relocating the current RPS position of a vehicle to the Loran-C position of the vehicle when the Loran-C position information is reported to be valid and the RPS is reported as not lost.

47. A system according to claim 38 wherein said means for acquiring said current RPS position information comprises:

means for acquiring the RPS position of a vehicle; and

means for acquiring the RPS contour of equal probability (CEP);

said means for acquiring current APS position information comprises;

means for acquiring the Loran-C position of a vehicle; and

means for acquiring the Loran-C dilution of precision (DOP);

said evaluating means comprises;

means for computing a Loran-C CEP as a function f₁ of Loran-C validity and a Loran-C dilution of precision error factor (DOP);

means for computing a Loran-C area W₁ as a function of Loran-C validity, the Loran-C CEP, and the RPS validity;

means for computing an RPS area W₂ as a function of RPS validity, RPS CEP, and Loran-C validity; and

means for evaluating whether the RPS area W₂ overlaps the Loran-C area W₁ ; and

said updating means comprises;

means for acquiring new RPS and APS position information when the RPS area W₂ overlaps the Loran-C area W₁ ; and

means for relocating the current RPS position of a vehicle to the current Loran-C position of a vehicle if the RPS area W₂ does not overlap the Loran-C area W₁ ; and

means for setting the RPS CEP to a function f₂ of Loran-C validity, Loran-C DOP, and RPS validity if the RPS area W₂ does not overlap the Loran-C area W₁.

48. A system according to claim 47 wherein said Loran-C CEP computing means comprises:

means for computing a Loran-C CEP as a function of the product of a predetermined constant and the Loran-C DOP.

49. A system according to claim 47 wherein said means for computing said Loran-C and said RPS areas W₁ and W₂ comprise:

means for computing Loran-C and RPS areas W₁ and W₂ of zero extent, respectively.

50. A system according to claim 47 wherein said setting means comprises:

means for setting the RPS CEP to a function f₂ which is equal to the Loran-C CEP.

51. A system according to claim 38 wherein said means for acquiring said currrrent RPS position information comprises:

means for acquiring the RPS position of a vehicle; and

means for acquiring the RPS contour of equal probability (CEP);

said means for acquiring current APS position information comprises;

means for acquiring the Global Positioning System (GPS) position of a vehicle; and

means for acquiring the GPS dilution of precision (DOP);

said evaluating means comprises;

means for computing a GPS CEP as a function f₁ of GPS validity and an GPS dilution of precision error factor (DOP);

means for computing a GPS area W₁ as a function of GPS validity, the GPS CEP, and the RPS validity;

means for computing an RPS area W₂ as a function of RPS validity, RPS CEP, and GPS validity; and

means for evaluating whether the RPS area W₂ overlaps the GPS area W₁ ; and

said updating means comprises;

means for acquiring new RPS and APS position information when the RPS area W₂ overlaps the GPS area W₁ and

means for relocating the current RPS position of a vehicle to the current GPS position of a vehicle if the RPS area W₂ does not overlap the GPS area W₁ ; and

means for setting the RPS CEP to a function f₂ of GPS validity, GPS DOP, and RPS validity if the RPS area W₂ does not overlap the GPS area W₁.

52. A system according to claim 38 wherein said evaluating means comprises:

means for generating a signal indicating that the GPS position information is invalid when less than three satellites are used to acquire it and valid when three or more satellites are used to acquire it.

53. A system according to claim 51 wherein said means for computing said GPS CEP comprises:

means for computing a GPS CEP as a function f₁ of the number of satellites used to acquire said GPS position information.

54. A system according to claim 53 wherein said means for computing said GPS CEP comprises:

means for computing a GPS CEP as a function of f₁ where f₁ is;

i. infinity when the number of satellites is less than 3;

ii. equal to the product of a first predetermined number and the GPS DOP when the number of satellites is equal to 3; and

iii. equal to the product of a second predetermined number and the GPS DOP when the number of satellites is greater than 3.

55. A system according to claim 53 wherein said means for acquiring information on the validity of said RPS position information comprises:

means for acquiring an indication of whether or not said RPS is lost or not lost;

said means for computing said GPS CEP comprises;

means for computing a GPS CEP as a function f₁ of the number of satellites used in said step (h); and

said means for computing said GPS area W₁ comprises;

means for computing a GPS area W₁ as a function of W₁ where W₁ is;

i. infinity when the number of satellites is less than 3 and there is an indication that the RPS is lost;

ii. infinity when the number of satellites is less than 3 and there is an indication that the RPS is not lost;

iii. equal to the GPS CEP when the number of satellites is equal to three and there is an indication that the RPS is lost;

iv. infinity when the number of satellites is equal to three and there is an indication that the RPS is not lost;

v. equal to the GPS CEP when the number of satellites is greater than three and there is an indication that the RPS is lost; and

vi. equal to twice the GPS CEP when the number of satellites is greater than three and there is an indication that the RPS is not lost.

56. A system according to claim 51 wherein said means for computing an RPS area W₂ comprises:

means for computing an RPS area W₂ of zero extent.

57. A system according to claim 51 wherein said setting means comprises:

means for setting a GPS CEP to a function f₂ where f₂ is equal to GPS area W₁.