公开(公告)号：US20140375497A1

公开(公告)日：2014-12-25

申请号：US13925895

申请日：2013-06-25

Applicant: Caterpillar Inc.

Inventor： Paul R. Friend ,  Michael Taylor ,  Steven R. Krause ,  Andrew Whitten

IPC: G01S19/13

CPC classification number: G01S19/49 ,  G01S19/14

Abstract: A method for detecting and mitigating errors in a positioning system includes receiving a first signal from a global navigation satellite system (GNSS) indicative of a first position and a second signal from the GNSS indicative of a second position of a machine, determining a difference between the first position and the second position, detecting an error in a current position of the machine when the difference between the first and the second position exceeds a threshold of one of (a) a maximum distance given a maximum velocity, and (b) an actual distance determined based on an output of an inertial sensor on the machine, and mitigating the detected error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.

Abstract translation: 用于检测和减轻定位系统中的误差的方法包括从指示机器的第二位置的来自指示第一位置的全球导航卫星系统（GNSS）接收第一信号和来自GNSS的第二信号，确定机器的第二位置之间的差 第一位置和第二位置，当第一位置和第二位置之间的差超过了（a）给定最大速度的最大距离之一的阈值时，检测机器的当前位置的误差，以及（b） 基于机器上的惯性传感器的输出确定的实际距离，并且通过从定位系统的输出切换到基于惯性传感器的输出确定的位置输出来减轻机器的当前位置的检测到的误差， 更新当前位置。