Application of GPS to a railroad navigation system using two satellites and a stored database

• US 5,867,122 A
• Filed: 10/23/1996
• Issued: 02/02/1999
• Est. Priority Date: 10/23/1996
• Status: Expired due to Term

• Current Assignee: Ge-Harris Raliway Electronics LLC, Hanger Solutions, LLC (IP Investments Group LLC)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Zahm, Charles, Matheson, William
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/733,963
• Time in Patent Office: 832 Days
• Field of Search: 342/357, 364/449.7, 364/450, 701/214, 701/221, 701/217
• US Class Current: 342/357.33
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Abstract

A method for determining the location of a vehicle whose movement is constrained to a route whose location is fixed and known, such as a train. An initial estimate of location is made based upon information contained in a route database based on distance traveled from a reset point. The accuracy of the estimated vehicle location is improved through use of just two global positioning satellites.

Claims

1. A method of determining the location of a vehicle whose movement is constrained to a route whose location is fixed and known, comprising the steps of:

(a) estimating the vehicle'"'"'s location along the route;

(b) receiving signals from two global position satellites;

(c) determining an angle from a vector tangent to the route at the estimated location to each of the two satellites;

(d) for each of the two satellites, determining a range error between an estimated range from the estimated location of the vehicle to the satellite and a measured range from the vehicle to the satellite;

(e) using the determined angles and determined range errors for only the two satellites, determining a distance error in the estimated location of the vehicle along the route; and

(f) combining the distance error with the estimated location to provide a determined location of the vehicle along the route.

2. The method of claim 1 wherein the method further comprises the step of selecting one of the satellites forward of the vehicle'"'"'s direction of movement and the other of the satellites rearward thereof.

3. The method of claim 1 wherein the step of estimating the vehicle'"'"'s location along the route comprises the step of using a dead reckoning system to estimate a location along the route.

4. The method of claim 1 wherein the step of determining a distance error in the estimated location of the vehicle along the route comprises the step of solving the following, where the distance error is Δ

s, the determined angles are θ

_i, the determined range errors are δ

P_i, c is a constant and Δ

B is an unknown;

##EQU11##

5. The method of claim 4 further comprising the steps of determining the norm of Δ

s Δ

B!^T, and accepting the determined distance error if the determined norm is less than a threshold amount.

6. The method of claim 1 further comprising the steps of computing a route unit vector that is tangent to the route at the estimated location, and computing satellite unit vectors from the estimated location to each of the two satellites, wherein the determined angles are between the route unit vector and the satellite unit vectors.

7. The method of claim 1 wherein the vehicle is a train locomotive with a GPS receiver and the route is a track for the locomotive.

8. The method of claim 7 further comprising the step of providing the determined position to a train operator remote from the locomotive which monitors locomotive location.

9. The method of claim 1 wherein the vehicle is at an end of a train, the vehicle having a GPS receiver, and the route is a track for the train.

10. The method of claim 9 further comprising the step of providing the determined position to a train operator remote from the train which monitors end-of-train location.

11. A method of determining the location of a vehicle which moves along a route whose location is known, and which has a positioning satellite receiver, the method comprising the steps of:

(a) estimating a location of the vehicle using information about the known route and movement of the vehicle;

(b) improving the accuracy of the estimated location by applying a correction to the estimated location derived from data received on the positioning satellite receiver from just two positioning satellites; and

(c) determining an angle from a vector tangent to the route at the estimated location to each of the two satellites by computing a route unit vector that is tangent to the route at the estimated location, and computing satellite unit vectors from the estimated location to each of the two satellites, wherein the determined angles are between the route unit vector and the satellite unit vectors.

12. The method of claim 11 further comprising the step of:

for each of the two satellites, determining a range error between an estimated range from the estimated location of the vehicle to the satellite and a measured range from the vehicle to the satellite.

13. The method of claim 12 further comprising the step of:

determining a distance error in the estimated location of the vehicle along the route by solving the following, where the distance error is Δ

s, the determined angles are θ

_i, the determined range errors are δ

P_i, c is a constant and Δ

B is an unknown;

##EQU12##

14. The method of claim 11 wherein the vehicle is in a train and the route is a track for the train.

15. The method of claim 14 further comprising the step of providing the determined position to a train operator remote from the train which monitors train location.

16. A method of determining the location of a vehicle which moves along a known route, and which has a positioning satellite receiver, the method comprising the steps of:

(a) estimating a location of the vehicle using information about the known route and movement of the vehicle; and

(b) improving the accuracy of the estimated location by applying a correction to the estimated location derived from data continuously received by the positioning satellite receiver from a plurality of positioning satellites, the step of improving including the determination of the angle from a vector tangent to the route at the estimated location to each of the satellites.

17. The method of claim 16 wherein the step of improving comprises the step of selecting data for the correction from one satellite forward of the vehicle'"'"'s direction of movement and from one satellite rearward thereof.

18. The method of claim 16 wherein the step of estimating the vehicle'"'"'s location along the route comprises the step of using a dead reckoning system to estimate a location along the route.

19. The method of claim 16 wherein the step of improving further includes the steps of:

(a) for each of the satellites, determining a range error between an estimated range from the estimated location of the vehicle to the satellite and a measured range from the vehicle to the satellite;

(b) using the determined angles and determined range errors for the satellites, determining a distance error in the estimated location of the vehicle along the route; and

(c) combining the distance error with the estimated location to provide a determined location of the vehicle along the route.