- 专利标题： Integrated vehicle positioning and navigation system, apparatus and method
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申请号： EP95110798.6申请日： 1990-12-10
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公开(公告)号： EP0679974A2公开(公告)日： 1995-11-02
- 发明人: Kyrtsos, Christos T. , Gudat, Adam J. , Christensen, Dana A. , Friedrich, Douglas W. , Stafford, Darrell E. , Sennott, James W. , Bradbury, Walter J. , Clow, Richard G. , Devier, Lonnie J. , Kemner, Carl A. , Kleimenhagen, Karl W. , Koehrsen, Craig L. , Lay, Norman K. , Peterson, Joel L. , Rao, Prithvi N. , Schmidt, Larry E. , Shaffer, Gary K. , Shi, WenFan , Shin, Dong Hun , Singh, Sanjiv J. , Weinbeck, Louis J. , West, Jay H. , Whittaker, William L. , Wu, BaoXin (NMI)
- 申请人： CATERPILLAR INC.
- 申请人地址： 100 Northeast Adams Street Peoria Illinois 61629-6490 US
- 专利权人： CATERPILLAR INC.
- 当前专利权人： CATERPILLAR INC.
- 当前专利权人地址： 100 Northeast Adams Street Peoria Illinois 61629-6490 US
- 代理机构： Brunner, Michael John
- 优先权： PCT/US89/05580 19891211
- 主分类号： G05D1/00
- IPC分类号： G05D1/00 ; G05D1/02 ; G01S5/14 ; G01C21/16
摘要：
Systems and methods for positioning and navigating an autonomous vehicle (102,310) allow the vehicle (102,310) to travel between locations. A first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170,200-206) are not in view of the vehicle (102,310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102,310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908,910).
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