Position and heading error-correction method and apparatus for vehicle navigation systems

• US 6,577,952 B2
• Filed: 01/08/2001
• Issued: 06/10/2003
• Est. Priority Date: 01/08/2001
• Status: Expired due to Term

• Current Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Figor, Russell S., Geier, George J., Strother, Troy L.
• Primary Examiner(s): NGUYEN, THU V
• Application Number:
  US09/756,094
• Publication Number:
  US 20030036847A1
• Time in Patent Office: 883 Days
• Field of Search: 701/1-8, 701/10, 701/23-26, 701/36, 701/93-97, 701/200, 701/210, 701/205-208, 701/213-217, 701/220, 701/300, 701/224-225, 340/545.2, 340/545.5, 340/933, 340/935, 340/938-939, 340/979, 340/988-995, 702/85-88, 702/92-95, 702/99, 702/116, 702/104-105, 702/142-151, 702/182-185, 702/194-197, 737/63, 737/66, 734/88, 734/97, 735/033, 735/09, 735/10--11, 244/79, 318/466-467, 318/580, 318/583-587
• US Class Current: 701/214
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The present invention solves the problems of the prior art by providing methods for compensating for temperature-dependent drift of bias in a vehicle heading sensor of a dead reckoning vehicle positioning system. Specifically, the invention uses a Kalman filter to generate a calibration curve for the rate of heading sensor bias drift with temperature change. The Kalman filter calculates coefficients for a model of heading sensor bias drift rate versus temperature at each point where the vehicle is stationary. The bias drift rate calibration curve is then used to estimate a heading sensor bias periodically while the vehicle is moving. The invention further provides a method for using an aging time for temperature sensor bias drift rate to force convergence of the error variance matrix of the Kalman filter. The invention further provides vehicle navigational systems that utilize the methods of the present invention.

Claims

1. A navigational system for a vehicle having built-in error correction comprising:

(a) a heading sensor having a bias that drifts over time and capable of measuring heading data;

(b) a temperature sensor capable of measuring temperature data;

(c) a dead reckoning component having a heading sensor interface and a temperature sensor interface, wherein the dead reckoning component receives the heading data from the heading sensor and the temperature data from the temperature sensor;

(d) a first computational means for determining whether the vehicle is at a stationary point;

(e) if the vehicle is at the stationary point, a second computational means for generating a temperature-based calibration curve for an estimated bias drift rate, the estimated bias drift rate at the stationary point being a ratio of a change in bias between the stationary point and a prior stationary point by a change in temperature between the stationary point and the prior stationary point, the calibration curve being modeled by an expression as a function of a plurality of coefficients calculated by a filter, a current temperature measured at the stationary point, and a prior temperature measured at the prior stationary point;

(f) a third computational means for calculating a corrected vehicle heading using the temperature-based calibration curve for the estimated bias drift rate to compensate for vehicle heading errors induced by heading sensor bias drift; and

(g) a fourth computational means for calculating a corrected vehicle position using at least the corrected vehicle heading to compensate for vehicle position errors induced by heading sensor bias drift.

2. The navigation system of claim 1 wherein the heading sensor is a gyroscope.

3. The navigation system of claim 1 wherein the heading sensor is a low-cost gyroscope.

4. The navigation system of claim 1 wherein the heading sensor is a vibrational gyroscope.

5. The navigation system of claim 1 wherein the first computational means for determining whether the vehicle is at the stationary point includes at least a distance-traveled sensor.

6. The navigation system of claim 1 wherein the dead reckoning component further comprises a dead reckoning processor.

7. The navigation system of claim 1 wherein the calibration curve for the estimated bias drift rate further includes an aging time parameter that is representative of an expected time interval over which a temperature coefficient will remain relatively constant.

8. The navigation system of claim 1 further comprising a reference vehicle position system.

9. The navigation system of claim 8 wherein the reference vehicle position system is a satellite-based positioning system.

10. The navigation system of claim 9 wherein the satellite-based positioning system is the global positioning system.

11. The navigation system of claim 10 wherein the global positioning system component comprises an antenna and a receiver.

12. The navigation system of claim 11 further comprising a global positioning system processor.

13. The navigation system of claim 8 further comprises a fifth computational means for combining the corrected vehicle heading calculated by the third computational means and a second vehicle heading provided by the reference vehicle position system into an integrated vehicle heading and a sixth computational means for combining the corrected vehicle position calculated by the fourth computational means and a second vehicle position provided by the reference vehicle position system into an integrated vehicle position.

14. The navigation system of claim 13 wherein the fifth computational means comprises a Kalman filter.

15. The navigation system of claim 13 wherein the sixth computational means comprises a Kalman filter.

16. The navigation system of claim 1 further comprising an application specific device.

17. The navigation system of claim 16 wherein the application specific device is a unit for matching the corrected vehicle position with a map contained in the application specific device.

18. The navigation system of claim 19 further comprising a unit for displaying the map contained in the application specific device and identifying the corrected vehicle position on the displayed map.

19. The navigation system of claim 16 wherein the application specific device comprises a transmitter, wherein the transmitter transmits the corrected vehicle position to a service center having a receiver.

20. A method for correcting temperature-dependent sensor bias drift in a navigational system for a vehicle comprising a heading sensor, a temperature sensor, and a dead reckoning component, comprising the steps of:

(a) transmitting heading data from the heading sensor to the dead reckoning component and storing the heading data in the dead reckoning component;

(b) transmitting temperature data from the temperature sensor to the dead reckoning component and storing the temperature data in the dead reckoning component;

(c) determining whether the vehicle is at a stationary point;

(d) if the vehicle is at the stationary point, generating a temperature-based calibration curve for an estimated bias drift rate, the estimated bias drift rate at the stationary point being a ratio of a change in bias between the stationary point and a prior stationary point by a change in temperature between the stationary point and the prior stationary point, the calibration curve being modeled by an expression as a function of a plurality of coefficients calculated by a filter, a current temperature measured at the stationary point, and a prior temperature measured at the prior stationary point.

21. The method of claim 20, wherein the navigation system further has a central processing unit and a computer readable medium, the computer readable medium having instructions for causing the central processing unit to perform the steps of the method.

22. The method of claim 20 wherein the method is iterated periodically.

23. The method of claim 22 wherein the method is iterated at a frequency of 1 iteration per second.

24. The method of claim 20 further comprising the step of using a temperature sensor bias drift rate aging time parameter to force convergence of an error variance matrix of the filter.

25. The method of claim 24 wherein the aging time parameter is updated at the stationary point.

26. A method for correcting heading and position error induced by temperature-dependent heading sensor bias drift in a navigational system for a vehicle comprising a heading sensor, a temperature sensor, and a dead reckoning component, comprising the steps of:

(a) transmitting heading data from the heading sensor to the dead reckoning component and storing the heading data in the dead reckoning component;

(b) transmitting temperature data from the temperature sensor to the dead reckoning component and storing the temperature data in the dead reckoning component;

(c) determining whether the vehicle is at a stationary point;

(d) if the vehicle is at the stationary point, generating a temperature-based calibration curve for an estimated bias drift rate, the estimated bias drift rate at the stationary point being a ratio of a change in bias between the stationary point and a prior stationary point by a change in temperature between the stationary point and the prior stationary point, the calibration curve being modeled by an expression as a function of a plurality of coefficients calculated by a filter, a current temperature measured at the stationary point, and a prior temperature measured at the prior stationary point;

(e) estimating a corrected vehicle heading using at least the temperature-based calibration curve for the estimated bias drift rate;

(f) estimating a corrected vehicle position using at least the corrected vehicle heading.

27. The method of claim 26, wherein the navigation system further has a central processing unit and a computer readable medium, the computer readable medium having instructions for causing the central processing unit to perform the steps of the method.

28. A method for correcting heading and position error induced by temperature-dependent heading sensor bias drift in a navigational system for a vehicle comprising a heading sensor, a temperature sensor, a global positioning system, and a dead reckoning component, comprising the steps of:

(a) transmitting heading data from the heading sensor to the dead reckoning component and storing the heading data in the dead reckoning component;

(b) transmitting temperature data from the temperature sensor to the dead reckoning component and storing the temperature data in the dead reckoning component;

(c) transmitting global positioning data from the global positioning system to the dead reckoning component and storing the global positioning data in the dead reckoning component;

(d) determining whether the vehicle is at a stationary point;

(e) if the vehicle is at a stationary point, generating a temperature-based calibration curve for an estimated bias drift rate, the estimated bias drift rate at the stationary point being a ratio of a change in bias between the stationary point and a prior stationary point by a change in temperature between the stationary point and the prior stationary point, the calibration curve being modeled by an expression as a function of a plurality of coefficients calculated by a filter, a current temperature measured at the stationary point, and a prior temperature measured at the prior stationary point;

(f) estimating a corrected vehicle heading using at least the temperature-based calibration curve for the estimated bias drift rate;

(g) estimating a corrected vehicle position using at least the corrected vehicle heading;

(h) calculating an integrated vehicle heading using at least the corrected vehicle heading and the global positioning data transmitted from the global positioning system; and

(i) calculating an integrated vehicle position using at least the corrected vehicle position and the global positioning data transmitted from the global positioning system.

29. The method of claim 28, wherein the navigation system further has a central processing unit and a computer readable medium, the computer readable medium having instructions for causing the central processing unit to perform the steps of the method.