Tightly coupled GPS and dead-reckoning vehicle navigation

• US 8,374,785 B2
• Filed: 01/28/2010
• Issued: 02/12/2013
• Est. Priority Date: 01/28/2010
• Status: Expired due to Fees

• Current Assignee: Furuno Electric Co, Ltd
• Original Assignee: eRide, Inc. (Furuno Electric Co, Ltd)
• Inventors: McBurney, Paul W., Hirsch, Eric
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Kiswanto, Nicholas
• Application Number:
  US12/695,541
• Publication Number:
  US 20110184644A1
• Time in Patent Office: 1,111 Days
• Field of Search: 701/400, 701/408, 701/468, 701/469, 701/472, 701/473, 701/480, 701/483, 701/494, 701/495, 701/498, 701/500, 701/501
• US Class Current: 701/472
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

A tightly coupled GPS and dead-reckoning system collects wheel speed transducer data over a vehicle'"'"'s network to compute vehicle range and direction. The dead-reckoning bridges over gaps in navigation solutions that would otherwise occur when GPS signal transmission is lost in tunnels, parking garages, and other common situations. Continual calibration of the wheel radii and compensation for speed effects are calculated from GPS position fixes, and such improves the performance and accuracy of dead-reckoning during long outages of GPS signal reception. When the GPS signals are restored, the dead-reckoning solutions provide a high quality starting place for the GPS receiver to search around.

Claims

1. An improved vehicle location system, comprising:

a GPS receiver carried aboard a vehicle and subject to interruptions of signal transmissions from orbiting navigation satellites;

a DR-computer coupled to the GPS receiver and providing for range and heading information computed by dead-reckoning during periods of said signal interruptions, and such that vehicle location solutions are provided to a user;

wheel-tick sensors coupled to the DR-computer and providing for rotational data related to the rotation of individual wheels that carry said vehicle;

wherein, one or more parameters estimated to account for true radii of said individual wheels are combined with said rotational data from the wheel-tick sensors to generate delta-range information indicative of change in range, and delta-heading information indicative of change in heading, related to movements of said vehicle;

wherein, said delta-range and delta-heading information are propagated by the DR-computer from absolute position information periodically obtained from the GPS receiver, with dead-reckoning location alone sometimes being output as a vehicle location solution; and

wherein, said vehicle location solutions are derived solely from the GPS receiver, solely by the DR-computer, or from a mix provided by the GPS receiver and the DR-computer.

2. The vehicle location system of claim 1, further comprising:

a computer program for choosing and deriving said vehicle location solutions solely from the GPS receiver, solely from the DR-computer, or from a mix provided by both the GPS receiver and the DR-computer.

3. The vehicle location system of claim 1, further comprising:

a computer program for operating in one of three modes including GPS receiver only, DR-computer only, and a mixed mode including both the GPS receiver and the DR-computer;

wherein, operation in the GPS receiver only mode results when GPS fixes are available, there are enough consistently available satellite vehicles, and more than two satellite vehicles are being tracked;

wherein, operation in the DR-computer only mode results when a GPS fix is not available, or less than two satellite vehicles are being tracked, and calibration is available; and

wherein, operation in the mixed mode results from tests when less than two satellite vehicles are being tracked, or there are not enough consistently available satellite vehicles, and a calibration is available and verified.

4. The vehicle location system of claim 3, further comprising:

a programmable persistent stop bit;

a conditional program branch that immediately follows a startup of a GPS measurement hardware, and whose conditional branching depends on the status of the programmable persistent stop bit, and that forwards control to said DR-computer only mode if calibration is available and the programmable persistent stop bit is true, or if the programmable persistent stop bit is chaotic that forwards control to said GPS only mode when a GPS fix is available.

5. The vehicle location system of claim 1, further comprising:

an automatic process for the continual calibration of estimates for the true radii of each of said individual wheels, wherein absolute position information periodically obtained from the GPS receiver is compared to said rotational data provided by wheel-tick sensors.

6. The vehicle location system of claim 1, further comprising:

a buffer and time-stamp process for receiving packets of wheel-tick rotational data received from a controller-area network (CAN); and

a dead-reckoning Kalman filter for estimating and calibrating said wheel-tick rotational data from the buffer and time-stamp process.

7. The vehicle location system of claim 1, further comprising:

an initializing value calculated to approximate the true radii of each of said individual wheels, and used to provide delta-range, delta-heading, and delta-heading sum estimates for dead-reckoning location solutions.

8. The vehicle location system of claim 1, further comprising:

a speed-effect compensation to adjust estimates of wheel radii.

9. A GPS, dead-reckoning, and map matching location software application program for execution as a GPS application in a host computer, comprising:

an input process for collecting time, fix trigger, Doppler, and pseudorange reports from a GPS measurement platform (MP) device mounted aboard a vehicle with wheels;

a GPS-time to host computer time offset calculation process for aligning otherwise asynchronous data generated by said vehicle to GPS time;

a least squares snapshot estimator for position (P), velocity (V), calibration parameters for the wheel radii and ratio (B), delta-heading and delta-range (D), and time based on each new position fix and GPS system time;

a Kalman Filter configured for position (P), velocity (V), calibration parameters for the wheel radii and ratio (B), delta-heading and delta-range (D), and time, and for processing dead-reckoning delta-range, delta-heading, mixed modes, and propagation;

a continuous mode selection process for operating in a GPS only mode, dead-reckoning only mode, or a mixed mode of both GPS and dead-reckoning, depending on an availability of GPS solutions and wheel data calibrations;

a new fix computation process for computing hardware preposition data and adjusting a GPS millisecond timer connected to the time offset calculation process;

a buffer process for collecting time-stamped CANbus data related to wheel rotation ticks measured by a vehicle'"'"'s wheel transducers;

a dead-reckoning calibration Kalman filter for processing A_L and A_R calibration parameters for delta-heading/tick difference for left and right wheels, and B_L, and B_R calibration parameters for delta-range/tick for left and right wheels, and a heading-offset calibration parameter that translates a sum delta-heading to a known heading reference;

a dead-reckoning data process for converting data from the buffer process into delta-range, delta-heading, and delta-heading sum information for subsequent processing by the Kalman Filter, and including a dead-reckoning error model; and

an applications programming interface (API) for outputting new location fixes.

10. The GPS and dead-reckoning location software application program of claim 9, further comprising:

a mode selection program for operating in one of three modes including GPS receiver only, DR-computer only, and a mixed mode including both the GPS receiver and the DR-computer;

wherein, operation in the GPS receiver only mode results when GPS fixes are available, there are enough consistently available satellite vehicles, and more than two satellite vehicles are being tracked;

wherein, operation in the DR-computer only mode results when a GPS fix is not available, or less than two satellite vehicles are being tracked, and calibration is available;

wherein, operation in the mixed mode results from tests when less than two satellite vehicles are being tracked, or there are not enough consistently available satellite vehicles, and a calibration is available and verified; and

wherein, new location fixes are thereafter output through the API.