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公开(公告)号：US08374783B2
公开(公告)日：2013-02-12
申请号：US12039601
申请日：2008-02-28
申请人： Frank Takac , Oliver Zelzer , William James Kellar
发明人： Frank Takac , Oliver Zelzer , William James Kellar
CPC分类号： G01C21/28 , A01B79/005 , G01S19/47 , G01S19/50
摘要： Systems and methods for determining a position of a vehicle are described. The system includes at least one GNSS sensor mounted to the vehicle for receiving GNSS signals of a global positioning system and at least one physical sensor mounted to the vehicle for generating physical data indicative of a physical parameter of at least a part of the vehicle. The system also includes a recursive statistical estimator, such as a Kalman Filter, in communication with the GNSS sensor(s) for seeding the recursive statistical estimator with an output of the GNSS sensor(s) to determine an estimated position of the vehicle. A data fusion module combines the estimated position and velocity of the vehicle with the physical data thus generating combined data, which is used to seed the recursive statistical estimator to determine an updated estimated position of the vehicle.
摘要翻译： 描述用于确定车辆位置的系统和方法。 该系统包括安装到车辆的至少一个GNSS传感器，用于接收全球定位系统的GNSS信号，以及安装到车辆的至少一个物理传感器，用于产生指示车辆的至少一部分的物理参数的物理数据。 该系统还包括与GNSS传感器通信的递归统计估计器，例如卡尔曼滤波器，用于将递归统计估计器与GNSS传感器的输出接合，以确定车辆的估计位置。 数据融合模块将车辆的估计位置和速度与物理数据组合，从而产生组合数据，该组合数据用于对递归统计估计器进行种子以确定车辆的更新估计位置。
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公开(公告)号：US20090099774A1
公开(公告)日：2009-04-16
申请号：US12039601
申请日：2008-02-28
申请人： Frank Takac , Oliver Zelzer , William James Kellar
发明人： Frank Takac , Oliver Zelzer , William James Kellar
IPC分类号： G01C21/00
CPC分类号： G01C21/28 , A01B79/005 , G01S19/47 , G01S19/50
摘要： Systems and methods for determining a position of a vehicle are described. The system includes at least one GNSS sensor mounted to the vehicle for receiving GNSS signals of a global positioning system and at least one physical sensor mounted to the vehicle for generating physical data indicative of a physical parameter of at least a part of the vehicle. The system also includes a recursive statistical estimator, such as a Kalman Filter, in communication with the GNSS sensor(s) for seeding the recursive statistical estimator with an output of the GNSS sensor(s) to determine an estimated position of the vehicle. A data fusion module combines the estimated position and velocity of the vehicle with the physical data thus generating combined data, which is used to seed the recursive statistical estimator to determine an updated estimated position of the vehicle.
摘要翻译： 描述用于确定车辆位置的系统和方法。 该系统包括安装到车辆的至少一个GNSS传感器，用于接收全球定位系统的GNSS信号，以及安装到车辆的至少一个物理传感器，用于产生指示车辆的至少一部分的物理参数的物理数据。 该系统还包括与GNSS传感器通信的递归统计估计器，例如卡尔曼滤波器，用于将递归统计估计器与GNSS传感器的输出接合，以确定车辆的估计位置。 数据融合模块将车辆的估计位置和速度与物理数据组合，从而产生组合数据，该组合数据用于对递归统计估计器进行种子以确定车辆的更新估计位置。
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3.发明申请公开(公告)号：US20130211716A1
公开(公告)日：2013-08-15
申请号：US13810960
申请日：2011-07-19
申请人： William James Kellar
发明人： William James Kellar
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G01C21/165 , G01S19/47 , G01S19/49
摘要： An unambiguous heading direction is calculated to determine the forward/reverse state of a vehicle. A heading alignment error is determined at step 100, being the difference between a GNSS direction of motion and the unresolved IMU heading of the vehicle. The heading alignment error is adjusted by 180° to be within a predetermined range at step 200. The unresolved IMU heading of the vehicle 10 is adjusted using the heading alignment error to determine an ambiguous error corrected IMU heading at step 300. Step 400 determines whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle. The unambiguous heading direction is calculated at step 500 by offsetting the ambiguous error corrected IMU heading by 180 degrees if the ambiguous error corrected IMU heading is substantially opposite the true direction of the nose the vehicle of the vehicle. The forward/reverse state is determined by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.
摘要翻译： 计算出明确的航向方向以确定车辆的前进/后退状态。 在步骤100确定航向对准误差，即GNSS的运动方向与车辆的未解决的IMU航向之间的差异。 在步骤200，将航向对准误差调整为180°以在预定范围内。在步骤300，使用航向对准误差来调整车辆10的未解决的IMU航向，以确定错误纠正的IMU航向。步骤400确定是否 错误纠正IMU航向的模糊误差基本上在车辆的鼻子的真实方向。 如果模糊误差校正IMU航向与车辆的车辆的鼻子的真实方向基本相反，则在步骤500计算明确的航向方向，通过将歧义误差校正的IMU航向偏移180度来计算。 通过将明确的航向方向与车辆的GNSS运动方向进行比较来确定正向/反向状态。
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公开(公告)号：US08547276B2
公开(公告)日：2013-10-01
申请号：US12680358
申请日：2008-09-26
申请人： Anthony Cole , William James Kellar
发明人： Anthony Cole , William James Kellar
CPC分类号： G01S19/45 , G01C21/165 , G01S19/47
摘要： A positioning method whereby inertial positioning data is calculated based upon measurements of an Inertial Navigation System. Virtual satellite ranging data is then generated based upon the inertial positioning data. The virtual satellite ranging data is then combined with received satellite ranging data from one or more satellites forming part of a Global Navigation Satellite System (GNSS). A GNSS positioning solution is then calculated based upon the combined received satellite ranging data and the virtual satellite ranging data.
摘要翻译： 一种定位方法，其中基于惯性导航系统的测量计算惯性定位数据。 然后基于惯性定位数据生成虚拟卫星测距数据。 然后将虚拟卫星测距数据与形成全球导航卫星系统（GNSS）的一部分的一个或多个卫星的接收的卫星测距数据组合。 然后基于组合的接收的卫星测距数据和虚拟卫星测距数据来计算GNSS定位解决方案。
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公开(公告)号：US20110307138A1
公开(公告)日：2011-12-15
申请号：US13130035
申请日：2009-12-02
CPC分类号： G01S19/42 , G01S19/426
摘要： A positioning method that calculates a lower accuracy positioning solution and applies an offset to the lower accuracy positioning solution to form a final positioning solution if a higher accuracy positioning solution is unavailable. The offset represents a difference between the lower accuracy positioning solution and the higher accuracy positioning solution at a point in time when the higher accuracy positioning solution was last available.
摘要翻译： 一种定位方法，用于计算较低精度定位解，并将偏移量应用于较低精度定位解，以便在较高精度定位解不可用的情况下形成最终定位解。 偏移量表示在最高可用度的高精度定位解决方案的时间点上的较低精度定位方案和较高精度定位解决方案之间的差异。
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6.发明授权公开(公告)号：US08798925B2
公开(公告)日：2014-08-05
申请号：US13810960
申请日：2011-07-19
申请人： William James Kellar
发明人： William James Kellar
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G01C21/165 , G01S19/47 , G01S19/49
摘要： An unambiguous heading direction is calculated to determine the forward/reverse state of a vehicle. A heading alignment error is determined at step 100, being the difference between a GNSS direction of motion and the unresolved IMU heading of the vehicle. The heading alignment error is adjusted by 180° to be within a predetermined range at step 200. The unresolved IMU heading of the vehicle 10 is adjusted using the heading alignment error to determine an ambiguous error corrected IMU heading at step 300. Step 400 determines whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle. The unambiguous heading direction is calculated at step 500 by offsetting the ambiguous error corrected IMU heading by 180 degrees if the ambiguous error corrected IMU heading is substantially opposite the true direction of the nose the vehicle of the vehicle. The forward/reverse state is determined by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.
摘要翻译： 计算出明确的航向方向以确定车辆的前进/后退状态。 在步骤100确定航向对准误差，即GNSS的运动方向与车辆的未解决的IMU航向之间的差异。 在步骤200，将航向对准误差调整为180°以在预定范围内。在步骤300，使用航向对准误差来调整车辆10的未解决的IMU航向，以确定错误纠正的IMU航向。步骤400确定是否 错误纠正IMU航向的模糊误差基本上在车辆的鼻子的真实方向。 如果模糊误差校正IMU航向与车辆的车辆的鼻子的真实方向基本相反，则在步骤500计算明确的航向方向，通过将歧义误差校正的IMU航向偏移180度来计算。 通过将明确的航向方向与车辆的GNSS运动方向进行比较来确定正向/反向状态。
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公开(公告)号：US08600601B2
公开(公告)日：2013-12-03
申请号：US13130035
申请日：2009-12-02
CPC分类号： G01S19/42 , G01S19/426
摘要： A positioning method that calculates a lower accuracy positioning solution and applies an offset to the lower accuracy positioning solution to form a final positioning solution if a higher accuracy positioning solution is unavailable. The offset represents a difference between the lower accuracy positioning solution and the higher accuracy positioning solution at a point in time when the higher accuracy positioning solution was last available.
摘要翻译： 一种定位方法，用于计算较低精度定位解，并将偏移应用于较低精度定位解，以便在较高精度定位解不可用的情况下形成最终定位解。 偏移量表示在最高可用度的高精度定位解决方案的时间点上的较低精度定位方案和较高精度定位解决方案之间的差异。
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