Dual positioning location system

• US 5,644,317 A
• Filed: 03/27/1995
• Issued: 07/01/1997
• Est. Priority Date: 03/27/1995
• Status: Expired due to Term

• Current Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Weston, Richard James, Geren, Bruce Edward
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/411,354
• Time in Patent Office: 827 Days
• Field of Search: 342/357, 342/457, 364/453, 364/454
• US Class Current: 342/357.31
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile

Abstract

An automatic vehicle location system (10) includes a radio positioning system receiver (14) which receives GPS radio signals (18) and includes a two-gimbaled gyroscope (22), which is used by a dead-reckoning positioning system. A controller (43) determines position based upon the radio positioning system when the radio signals (18) are available and upon dead-reckoning when the radio signals (18) are not available. The dead-reckoning process is based upon a compensation factor which is established in response to data received from the radio positioning system (14). The compensation factor acts as an adjustment to an inner gimbal angle to compensate for a minor drift away from level by the inner gimbal (32).

Claims

1. A method for operating a location system having a gyroscope with inner and outer gimbals and having a radio positioning system receiver, said method comprising the steps of:

obtaining receiver signals from said radio positioning system receiver and gyroscope signals from said gyroscope;

identifying a speed for said location system;

computing a compensation factor in response to said receiver signals, said computing step being performed when said receiver signals define a current heading for said radio positioning system receiver wherein said computing step is performed when said identifying step identifies said speed as being greater than a predetermined minimum speed; and

determining, when receiver signals do not define a current heading, a position in response to said gyroscope signals and in response to said compensation factor.

2. A method as claimed in claim 1 wherein:

said gyroscope signals characterize an inner gimbal angle and an outer gimbal angle; and

said computing step configures said compensation factor as an adjustment to said inner gimbal angle.

3. A method as claimed in claim 1 additionally comprising the step of operating an information presentation device in response to said position determined in said determining step.

4. A method as claimed in claim 1 additionally comprising the steps of:

identifying whether said location system has been on an approximately straight heading for a predetermined period of time; and

performing said computing step when said identifying step identifies said approximately straight heading.

5. A method as claimed in claim 1 wherein:

said receiver signals define a plurality of positions over a period of time; and

said computing step is responsive to said plurality of positions.

6. A method as claimed in claim 1 additionally comprising the step of receiving radio signals broadcast from Global Positioning System satellites at said radio positioning system receiver.

7. A method as claimed in claim 1 wherein:

said method additionally comprises the step of mounting said location system in a vehicle having an odometer; and

said determining step is responsive to signals generated by said odometer.

8. A method as claimed in claim 1 wherein said computing step comprises the steps of:

determining a first heading throughout a first period of time in response to said receiver signals;

determining a second heading throughout approximately said first period of time in response to said gyroscope signals; and

calculating a divergence rate between said first and second headings.

9. A method as claimed in claim 8 wherein heading changes for said location system cause outer gimbal angle changes in said gyroscope, an amount of change reflected in said outer gimbal angle is influenced by deviations from level of said inner gimbal, and said calculating step further comprises the steps of:

determining a compensation angle adjustment to said outer gimbal angle, said compensation angle adjustment being responsive to an inner gimbal angle and said compensation factor;

resolving a rate of change for said compensation angle adjustment over approximately said first period of time; and

comparing said rate of change for said compensation angle adjustment with said divergence rate.

10. A method for operating a location system having a gyroscope with inner and outer gimbals and having a radio positioning system receiver, said method comprising the steps of:

a) obtaining receiver signals from said receiver and gyroscope signals from said gyroscope;

b) determining whether said receiver signals define a current heading for said location system;

c) determining a speed for said location system;

d) determining whether said location system has been on an approximately straight heading for a predetermined period of time;

e) updating a compensation factor in response to said receiver signals if said receiver signals define a current heading for said location system, said speed is greater than a predetermined minimum speed, and said location system has been on an approximately straight heading for said predetermined period of time; and

f) determining a position for said location system in response to said gyroscope signals and in response to said compensation factor.

11. A method as claimed in claim 10 additionally comprising the step of operating an information presentation device in response to said position determined in said step f).

13. A method as claimed in claim 10 wherein:

said gyroscope signals characterize an inner gimbal angle and an outer gimbal angle; and

said step e) comprises the step of configuring said compensation factor as an adjustment to said inner gimbal angle.

14. A method as claimed in claim 10 wherein:

said method additionally comprises the step of mounting said location system in a vehicle having an odometer; and

said step f) comprises the step of determining a position from signals generated by said odometer.

15. A method as claimed in claim 10 wherein:

said method additionally comprises the step of mounting said location system in a vehicle having an odometer; and

said step c) comprises the step of determining said speed from signals generated by said odometer.

16. A method as claimed in claim 10 wherein said step e) comprises the steps of:

determining a first heading throughout a first period of time in response to said receiver signals;

determining a second heading throughout approximately said first period of time in response to said gyroscope signals; and

calculating a divergence rate between said first and second headings.

17. A method as claimed in claim 16 wherein heading changes for said location system cause outer gimbal angle changes in said gyroscope, an amount of change reflected in said outer gimbal angle is influenced by deviations from level of said inner gimbal, and said step e) further comprises the steps of:

determining a compensation angle adjustment to said outer gimbal angle, said compensation angle adjustment being responsive to an inner gimbal angle and said compensation factor;

resolving a rate of change for said compensation angle adjustment over approximately said first period of time;

comparing said rate of change for said compensation angle adjustment with said divergence rate; and

incrementing said compensation factor in response to said comparing step.

12. A method as claimed 10 additionally comprising the step of refraining from updating said compensation factor when said receiver signals do not define a current heading for said location system, said speed is less than said predetermined minimum speed, or said location system has not been on an approximately straight heading for said predetermined period of time.

18. A dual positioning location system comprising:

a gyroscope with inner and outer gimbals, said gyroscope being configured to produce gyroscope signals;

a radio positioning system receiver configured to produce receiver signals;

means for identifying a speed for said dual positioning location system; and

a controller, coupled to said gyroscope and said receiver, for computing a compensation factor in response to said receiver signals when said receiver signals define a current heading and when said speed is greater than a predetermined minimum speed, and for determining a position in response to said gyroscope signals and in response to said compensation factor when said receiver signals do not define a current heading.

19. A dual positioning location system as claimed in claim 18 wherein:

said gyroscope signals characterize an inner gimbal angle and an outer gimbal angle; and

said controller configures said compensation factor as an adjustment to said inner gimbal angle.