Method and system for navigation using GPS velocity vector

• US 7,835,863 B2
• Filed: 04/18/2007
• Issued: 11/16/2010
• Est. Priority Date: 04/18/2007
• Status: Active Grant

• Current Assignee: MiTAC International Corporation (MiTAC Holdings Corp.)
• Original Assignee: MiTAC International Corporation (MiTAC Holdings Corp.)
• Inventors: Kulik, Victor, Lokshin, Anatole
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US11/737,125
• Publication Number:
  US 20080262728A1
• Time in Patent Office: 1,308 Days
• Field of Search: 701/213, 701/200, 701/209, 701/211, 342/357.12, 342/357.04, 342/257.06
• US Class Current: 701/213
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

A navigation device includes a computer platform that includes a global positioning system (GPS) receiver operable to acquire and track a GPS signal, a processor assembly, and a memory. The memory includes at least one of last recorded Ephemeris and Almanac information, and a GPS velocity vector determination module operable to generate a velocity vector output in the absence of current Ephemeris based upon the tracked GPS signal and the last recorded GPS information. A method of vehicle navigation in the absence of current Ephemeris includes acquiring and tracking a GPS signal, retrieving from a memory a last recorded location of a vehicle, setting a dead reckoning startup location equal to the last recorded location, retrieving from a memory at least one of a last recorded Ephemeris and Almanac, determining a current velocity vector and determining a current location based upon the velocity vector and the dead reckoning startup location.

Claims

1. A vehicle navigation device includes a computer platform comprising:

a global positioning system (GPS) receiver operable to acquire and track a GPS signal;

a processor assembly; and

a memory, wherein the memory includes;

last recorded GPS information comprising at least one of Ephemeris information and Almanac information;

a GPS velocity vector determination module operable to output a velocity vector in the absence of current Ephemeris based upon the tracked GPS signal and the last recorded GPS information; and

a dead reckoning module operable to determine a current location of the navigation device based on the determined velocity vector and a dead reckoning startup location, comprising;

a verification logic for determining an estimated position calculated from pseudo-ranges and Doppler values using the last recorded GPS information, then comparing the estimated position against a last recorded location, and using the last recorded location as the dead reckoning position if a difference between the estimated position and the last recorded location does not exceed a predetermined value.

2. The navigation device as recited in claim 1, further comprising map matching, routing, and guidance modules receiving as inputs, components of the velocity vector and the current location.

3. A method of vehicle navigation in the absence of current Ephemeris, the method comprising a navigation device performing the steps of:

acquiring and tracking a GPS signal;

retrieving from a memory a last recorded location of a vehicle;

retrieving from the memory at least one of a last recorded Ephemeris and Almanac;

comparing the last recorded location against an estimated position calculated from the last recorded Ephemeris or Almanac;

setting a dead reckoning startup location equal to the last recorded location if a difference between the estimated position and the last recorded location does not exceed a predetermined value;

determining a current velocity vector based upon the GPS signal and the last recorded Ephemeris or Almanac; and

determining a current position based upon the velocity vector and the dead reckoning startup location.

4. The method of claim 3, further comprising:

measuring pseudo-ranges and Doppler values based upon the acquired GPS signals to generate the estimated position.

5. The method of claim 3, wherein determining a current velocity vector comprises selecting one of last recorded Ephemeris and Almanac based upon an age of the Ephemeris and Almanac.

6. The method of claim 3, wherein determining the dead reckoning startup location includes combining vehicle sensor information with the last recorded location information.

7. The method of claim 3, wherein determining a current velocity vector further comprises utilizing vehicle sensor information in addition to the GPS signal and the last recorded Ephemeris or Almanac.

8. At least one processor configured to perform the actions of:

acquiring and tracking a GPS signal;

retrieving from a memory a last recorded location of a vehicle;

retrieving from the memory at least one of a last recorded Ephemeris and Almanac;

comparing the last recorded location with an estimated position calculated from the last recorded Ephemeris or Almanac;

setting a dead reckoning startup location equal to the last recorded location if a difference between the estimated position and the last recorded location does not exceed a predetermined value;

determining a current velocity vector based upon the GPS signal and the last recorded Ephemeris or Almanac; and

determining a current location using the velocity vector and the dead reckoning startup location.

9. A machine-readable medium comprising executable instructions stored thereon, comprising:

a first set of instructions for acquiring and tracking a GPS signal;

a second set of instructions for retrieving from a memory a last recorded location of a vehicle;

a fourth set of instructions for retrieving from the memory at least one of a last recorded Ephemeris and Almanac;

a fifth set of instructions for determining a current velocity vector based upon the GPS signal and the last recorded Ephemeris or Almanac;

a sixth set of instructions for determining a current location using dead reckoning, based upon the velocity vector and a dead reckoning startup location;

a seventh set of instructions for comparing the last recorded location against an estimated position calculated from the last recorded Ephemeris or Almanac; and

a third set of instructions for setting the dead reckoning startup location equal to the last recorded location if a difference between the estimated position and the last recorded location does not exceed a predetermined value.

10. A method of vehicle navigation in the absence of current Ephemeris, comprising:

continuously receiving GPS signals from tracked satellites;

switching to a dead reckoning mode when the last recorded Ephemeris becomes unusable, wherein switching to a dead reckoning mode includes;

retrieving from a memory at least one of a last recorded Ephemeris and Almanac;

comparing a last calculated GPS location against an estimated position calculated using the last recorded Ephemeris or Almanac;

setting a dead reckoning startup location equal to the last calculated GPS location if a difference between the estimated position and the last calculated GPS location does not exceed a predetermined value;

determining a current velocity vector based upon the GPS signal and the last recorded Ephemeris or Almanac; and

determining a current location based upon the velocity vector and the dead reckoning startup location.