Navigation/guidance system for a land-based vehicle

• US 5,928,309 A
• Filed: 02/05/1996
• Issued: 07/27/1999
• Est. Priority Date: 02/05/1996
• Status: Expired due to Term

• Current Assignee: Donovan Boedigheimer, Kelvin Korver, Wesley Hawkinson
• Original Assignee: Donovan Boedigheimer, Kelvin Korver, Wesley Hawkinson
• Inventors: Hawkinson, Wesley, Korver, Kelvin, Boedigheimer, Donovan
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US08/596,957
• Time in Patent Office: 1,268 Days
• Field of Search: 701/1, 701/41, 701/50, 701/116, 701/200, 701/205, 701/207, 701/213, 701/214, 701/216, 701/220, 701/221, 701/224, 701/300, 342/41, 342/74, 342/75, 342/77, 342/107, 342/108, 342/125, 342/420, 342/463, 342/356, 342/357, 342/358, 342/359, 342/457, 343/711, 343/713, 343/718, 56/10.2 R, 56/10.2 A, 56/10.2 D, 56/10.2 F
• US Class Current: 701/214
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 13/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

A navigation/guidance system uses a dead reckoning navigator with periodic GPS fixes to correct the drift of the inertial system. The navigation system primarily uses speed sensed by Doppler radar and attitude and heading sensed by a set of gyros. The navigation system uses various processes to compensate for any sensor errors. The system uses attitude data to compensate for GPS leverarm errors. The system can be used on a land-based vehicle to economically and accurately provide navigation data.

Claims

1. A method of navigating a non-airborne vehicle comprising the steps of:

providing a position change sensor;

sensing the speed of the vehicle using the position change sensor;

providing an angular change sensor;

sensing the heading and attitude of the vehicle using the angular change sensor;

providing an accelerometer;

correcting the sensed attitude of the vehicle using data from the accelerometer, position change sensor and angular change sensor;

determining the position of the vehicle based on a known previous position and the sensed speed, heading, and attitude of the vehicle;

providing a radio navigation system;

storing positions of the vehicle each relative to a given point in time;

determining an external position reference for a given point in time using data from the radio navigation system; and

correcting any error in the determined position of the vehicle using the determined external position reference and comparing it to the stored position of the vehicle for the same point in time.

2. The method of claim 1 wherein said position change sensor is comprised of a Doppler radar.

3. The method of claim 1 wherein said angular change sensor is comprised of a gyro.

4. The method of claim 1 wherein said accelerometer is comprised of a tilt sensor.

5. The method of claim 1 wherein said accelerometer is comprised of a inclinometer.

6. The method of claim 1 wherein said radio navigation system is comprised of a GPS system.

7. The method of claim 1 wherein said radio navigation system is comprised of a LORAN system.

8. The method of claim 1 wherein said radio navigation system is comprised of a GLONASS system.

9. The method of claim 1 further comprising the steps of:

providing a radio navigation antenna for use with the radio navigation system, said antenna having a known location relative to a reference point on the vehicle;

determining the position of the radio navigation antenna based on the attitude of the vehicle and the known location of the antenna relative to the reference point; and

determining the external position reference using data from the radio navigation system and using the determined position of the radio navigation antenna.

10. The method of claim 1 wherein the navigating comprises autonomous steering of the vehicle.

11. The method of claim 1 wherein the navigating comprises surveying or mapping of an area.

12. The method of claim 1 wherein the navigating comprises controlling location and travel of trains.

13. A navigation system for a non-airborne vehicle comprising:

a position change sensor for sensing the speed of the vehicle;

a set of gyros for sensing the attitude and heading of the vehicle;

a set of accelerometers for sensing the forces acting on the vehicle;

a radio navigation system for sensing an external position reference for a given point in time, said radio navigation system including an antenna coupled to said vehicle at a known location relative to the vehicle; and

a processor connected to each of said sensors and radio navigation system, said processor performing the processing steps of;

correcting the sensed attitude of the vehicle using the sensed forces acting on the vehicle;

determining the velocity of the vehicle using the sensed speed, heading and attitude of the vehicle,

determining a first position of the vehicle by integrating the determined velocity,

storing said first position of the vehicle each relative to a given point in time;

determining the position of the antenna based on the attitude of the vehicle and the known location of the antenna relative to the vehicle,

correcting the external position reference based on the determined position of the antenna, and

correcting the determined first position using the corrected external position reference by comparing it to the stored first position of the vehicle for the same point in time.

14. The navigation system of claim 13 wherein said position change sensor is comprised of a Doppler radar.

15. The navigation system of claim 13 wherein said set of gyros is comprised of two gyro sensors.

16. The navigation system of claim 13 wherein said set of gyros is comprised of three gyro sensors.

17. The navigation system of claim 13 wherein said radio navigation system is a GPS system.

18. The method of claim 17 wherein said radio navigation system further comprises a DGPS receiver.

19. The system of claim 13 wherein the navigating comprises autonomous steering of the vehicle.

20. The system of claim 13 wherein the navigating comprises surveying or mapping of an area.

21. The navigation system of claim 13 further comprising a guidance system port for providing data to a vehicle steering system.

22. The navigation system of claim 21 wherein said data provided to a vehicle guidance system relates to the vehicle position and heading.

23. The navigation system of claim 22 wherein said data also relates to a desired path.

24. The navigation system of claim 22 wherein said data comprises a steering command signal.

25. The navigation system of claim 21 wherein said data provided to a vehicle guidance system includes the cross track error and heading error.

26. A method of navigating a land-based agricultural vehicle through a field comprising the steps of:

sensing the speed of the vehicle;

providing an inertial sensor system;

sensing the heading and attitude of the vehicle using the inertial sensor system;

determining the position of the vehicle based on a known previous position and the sensed speed, heading, and attitude of the vehicle;

storing positions of the vehicle each relative to a given point in time;

providing a radio navigation system;

determining an external position reference for a given point in time using data from the radio navigation system;

producing true position data by correcting any error in the determined position of the vehicle using the external position reference and comparing it to the stored position of the vehicle for the same point in time; and

using the true position data to accurately navigate through a field.

27. The method of claim 26 further comprising the steps of:

providing a radio navigation system antenna coupled to the vehicle at a known location relative to the vehicle;

determining the position of the antenna based on the attitude of the vehicle and the location of the antenna relative to the vehicle; and

refining the determined external position reference based on the determined position of the antenna.

28. The method of claim 26 wherein said position change sensor is comprised of a Doppler radar.

29. The method of claim 26 wherein said heading and attitude are sensed using an angular change sensor.

30. The method of claim 29 wherein said angular change sensor is comprised of a plurality of gyros.

31. The method of claim 26 further comprising the steps of:

sensing the acceleration caused by the vehicle;

using the sensed acceleration caused by the vehicle to refine the determined position of the vehicle.

32. The method of claim 26 wherein said radio navigation system is comprised of a GPS.

33. The method of claim 26 further comprising the steps of determining the cross track error and heading error based on the true position data and a desired navigation path.

34. The method of claim 33 further comprising the step of creating a guidance command signal based on the determined cross track error and heading error.

35. The method of claim 34 further comprising the step of displaying information based on the guidance control signal.

36. The method of claim 26 further comprising the step of displaying information based on the true position data.

37. The method of claim 26 wherein said land based agricultural vehicle is comprised of a chemical sprayer.

38. The method of claim 26 wherein the navigating comprises autonomous steering of the vehicle.

39. The method of claim 26 wherein the navigating comprises surveying or mapping of an area.

40. The method of claim 26 wherein the navigating comprises controlling location and travel of trains.

41. A method of compensating for a radio navigation system antenna lever arm for a non-airborne vehicle comprising the steps of:

providing a radio navigation system antenna having a known location relative to a reference point on the vehicle;

providing an inertial system for sensing the angular changes of the vehicle;

determining the attitude of the vehicle using data from the inertial system; and

determining the position of the radio navigation system antenna based on the attitude of the vehicle and the known location of the radio navigation system antenna relative to the reference point.

42. A navigation system for a tractor comprising:

a position change sensor for sensing the speed of the tractor;

a set of gyros for sensing the attitude and heading of the tractor;

a set of angular change sensors for sensing the pitch and roll of the tractor;

a radio navigation system for sensing an external position reference for a given point in time, said radio navigation system including an antenna coupled to said tractor at a known location relative to the tractor;

a processor connected to each of said sensors and radio navigation system, said processor performing the processing steps of;

correcting the sensed attitude of the tractor using the sensed pitch and roll of the tractor;

determining the velocity of the tractor using the sensed speed, heading and attitude of the tractor,

determining a first position of the tractor by integrating the determined velocity,

storing said first positions of the vehicle each relative to a given point in time;

determining the position of the antenna based on the attitude of the tractor and the known location of the antenna relative to the tractor,

correcting the external position reference based on the determined position of the antenna, and

correcting the determined first position using the corrected external position reference by comparing it to the stored position of the vehicle for the same point in time;

an output port connected to said processor for providing data to a tractor guidance system.

43. The navigation system of claim 42 further comprising a user perceivable display connected to said processor for displaying information.

44. The navigation system of claim 43 wherein said display is comprised of a light bar mounted on the tractor.

45. The navigation system of claim 42 wherein said data is comprised of the cross track error and the heading error.

46. The navigation system of claim 42 wherein said tractor guidance system is comprised of an automatic steering system.

47. The navigation system of claim 46 wherein said data is comprised of guidance commands for the automatic steering system.

48. The method of claim 42 wherein the navigating comprises surveying or mapping of an area.

49. A method of navigating a moving non-airborne vehicle comprising the steps of:

(a) sensing the speed of a vehicle;

(b) sensing the heading and attitude of the vehicle from a known initialization position using an inertial sensor system having inherent drift that increases over time;

(c) estimating in real time the position of the vehicle for discrete points in time based on steps (a) and (b);

(d) storing the estimates correlated to the discrete points in time;

(e) correcting error between estimated position and actual position by periodically determining actual position correlated to discrete points in time of the vehicle, comparing a stored estimated position with an actual position for the radio navigation system, and adjusting estimated position if the comparison falls outside a predetermined range;

thus periodically producing real-time true position data for navigation of the vehicle by correcting for the inherent drift of the inertial sensor system, by periodically, if needed, comparing past estimated and past actual position and adjusting, if, needed, therebetween.

50. The method of claim 49 wherein the navigating comprises autonomous steering of the vehicle.

51. The method of claim 49 wherein the navigating comprises surveying or mapping of an area.