System and method for determining a position of a vehicle

• US 7,653,483 B2
• Filed: 08/19/2005
• Issued: 01/26/2010
• Est. Priority Date: 03/31/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Schmidt, Mark Alvin, Holm, David Roy, Stephens, Scott Adam, Hunt, Kenneth Edward
• Primary Examiner(s): To; Tuan C
• Application Number:
  US11/208,485
• Publication Number:
  US 20060224309A1
• Time in Patent Office: 1,621 Days
• Field of Search: 701/207, 455/456.1, 455/456.5, 455/67.14, 340/426.16, 340/539.26, 324/72
• US Class Current: 701/207
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method and system for determining the position of a vehicle comprises a transmitter or transceiver for transmitting a transmission signal from a vehicle to beacons associated with the work area. A data processor determines an elapsed time including at least one of a first propagation duration and a second propagation duration. The first propagation duration refers to a propagation time of the transmission signal from the vehicle to the particular beacon; the second propagation duration refers to a propagation time of a return signal from the particular beacon to the vehicle. A compensator compensates for the following associated with the transmitter and the particular beacon: bias delay, noise, and measurement error. A data processor processes the elapsed times into corresponding position curves or temporal curves to estimate a position of a vehicle at a confluence or intersection of the position curves or temporal curves.

Claims

1. A method for determining the position of a vehicle, the method comprising:

transmitting a transmission signal from a mobile transmitter at a vehicle to a plurality of beacons associated within a work area;

determining elapsed times for corresponding propagation paths between the vehicle and each beacon of the plurality of beacons, each propagation path including at least one of a first propagation duration and a second propagation duration;

the first propagation duration referring to a propagation time of the transmission signal from the vehicle to a particular beacon;

the second propagation duration referring to a propagation time of a return signal from the particular beacon to the vehicle;

compensating for noise or measurement error associated with a corresponding propagation path by invoking an averaging scheme, the averaging scheme determining an elapsed time for a corresponding propagation path based on an average of the first propagation duration and the second propagation duration; and

estimating a position of a vehicle at an intersection of position curves based on elapsed times for the propagation paths.

2. The method according to claim 1 wherein the estimating comprises assigning an approximately equal weight to the position curves or equal weight to the temporal curves to estimate the position of the vehicle.

3. The method according to claim 1 wherein the estimating comprises assigning differential weights to the position curves or differential weights to the temporal curves based on at least one probability density function for the position curves or the temporal curves to estimate the position of the vehicle.

4. The method according to claim 1 wherein the estimating comprises collecting a series of first position curves and averaging the series of first position curves over time;

collecting a series of second position curves and averaging the series of first position curves over time; and

collecting a series of third position curves and averaging the series of position curves over time to estimate the position of the vehicle.

5. The method according to claim 1 wherein the estimating comprises collecting a series of first position curves and fitting the first position curves to a generally linear progression over time, collecting a series of second position curves and fitting the second position curves to a generally linear progression over time, collecting a series of third position curves and fitting the third position curves to a generally linear progression over time in accordance with at least one of a least squares approach and a weighted least squares approach, where the generally linear progression is consistent with a generally linear path portion of a vehicle.

6. The method according to claim 1 wherein the compensating further comprises applying bias delay compensation to a turn-around paging scenario, in which a transmission is transmitted from a vehicle to a beacon, and then a return transmission is transmitted from the beacon back to the vehicle, by making a time or distance deduction for bias or processing lag within each beacon.

7. The method according to claim 6 wherein the bias compensation deducts a delay for one or more of the following:

(a) processing of the transmission and generation of the return signal at the beacon, (b) receiving the return signal at the vehicle, and (c) processing of the return signal at the vehicle.

8. The method according to claim 1 wherein the compensating further comprises applying a received pulse or received pulse train to a phase locked loop circuit as a filter to reduce an input noise phase component of the input phase.

9. The method according to claim 1 further comprising:

measuring a frequency shift in the first transmission at one or more of the beacons to estimate a vehicular speed or vehicular velocity; and

discarding measured frequency shifts at any beacon that exceed a maximum vehicular velocity of the vehicle to reduce data processing requirements.

10. The method according to claim 1 further comprising:

communicating differential data on elapsed times over an overhead channel between the vehicle and at least one beacon.

11. The method according to claim 10 wherein the overhead channel comprises a orthogonal frequency division multiplex channel.

12. A system for determining the position of a vehicle, the system comprising:

a mobile transmitter for transmitting a transmission signal at a vehicle to a plurality of beacons associated within a work area;

an estimator for determining elapsed times for corresponding propagation paths between the vehicle and each beacon of the plurality of beacons, each propagation path including at least one of a first propagation duration and a second propagation duration;

the first propagation duration referring to a propagation time of the transmission signal from the vehicle to a particular beacon;

the second propagation duration referring to a propagation time of a return signal from the particular beacon to the vehicle;

a compensator for compensating for noise or measurement error associated with a corresponding propagation path by invoking an averaging scheme, the averaging scheme determining an elapsed time for a corresponding propagation path based on an average of the first propagation duration and the second propagation duration; and

a data processor for estimating a position of a vehicle at an intersection of position curves based on elapsed times for the propagation paths.

13. The system according to claim 12 wherein the estimator assigns an approximately equal weight to the position curves or equal weight to the temporal curves to estimate the position of the vehicle.

14. The system according to claim 12 wherein the estimator assigns differential weights to the position curves or differential weights to the temporal curves based on at least one probability density function for the position curves or the temporal curves to estimate the position of the vehicle.

15. The system according to claim 12 wherein the data processor collects a series of first position curves and averaging the series of first position curves over time;

collecting a series of second position curves and averaging the series of first position curves over time; and

collecting a series of third position curves and averaging the series of position curves over time to estimate the position of the vehicle.

16. The system according to claim 12 wherein the data processor collects a series of first position curves and fitting the first position curves to a generally linear progression over time, collecting a series of second position curves and fitting the second position curves to a generally linear progression over time, collecting a series of third position curves and fitting the third position curves to a generally linear progression over time in accordance with at least one of a least squares approach and a weighted least squares approach, where the generally linear progression is consistent with a generally linear path portion of a vehicle.

17. The system according to claim 12 wherein the compensator applies bias delay compensation to a turn-around paging scenario, in which a transmission is transmitted from a vehicle to a beacon, and then a return transmission is transmitted from the beacon back to the vehicle, by making a time or distance deduction for bias or processing lag within each beacon.

18. The system according to claim 17 wherein the compensator deducts a delay for one or more of the following:

(a) processing of the transmission and generation of the return signal at the beacon, (b) receiving the return signal at the vehicle, and (c) processing of the return signal at the vehicle.

19. The system according to claim 12 wherein compensator comprises a phase locked loop service arranged receive a pulse or pulse train to reduce an input noise phase component of the input phase.

20. The system according to claim 12 further comprising:

a detector for measuring a frequency shift in the first transmission at one or more of the beacons to estimate a vehicular speed or vehicular velocity; and

a filter for discarding measured frequency shifts at any beacon that exceed a maximum vehicular velocity of the vehicle to reduce data processing requirements.

21. The system according to claim 12 further comprising:

a differential data processor for formatting input data on one of elapsed times and timing synchronization data as differential data;

an overhead channel module for communicating differential data on elapsed times over an overhead channel between the vehicle and at least one beacon.

22. The system according to claim 12 wherein the overhead channel comprises a orthogonal frequency division multiplex channel.