公开(公告)号：WO2017096500A1

公开(公告)日：2017-06-15

申请号：PCT/CN2015/096513

申请日：2015-12-07

Applicant: BEIJING UNISTRONG SCIENCE & TECHNOLOGY CO., LTD.

Inventor： COLLINS, Dennis M. ,  MCCLURE, John A.

IPC: G01C21/00 ,  G05D1/02 ,  G01S19/49 ,  A01B69/06

CPC classification number: G05D1/0212 ,  A01B69/004 ,  G01C21/04 ,  G01C21/06 ,  G01C21/165 ,  G01C21/18 ,  G01S19/49 ,  G05D1/02 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A method for guiding a terrestrial vehicle along a desired path can include receiving a position signal from a global navigation satellite system (GNSS) antenna and a gyro signal from a gyro sensor that is indicative of: (i) at least one of a pitch and a roll of the terrestrial vehicle, and (ii) a gyro-based heading direction. A position of a point of interest of the terrestrial vehicle at a location different from the GNSS antenna can be determined based on the position signal, the gyro signal, and a positional relationship between the GNSS antenna location and the location of the point of interest. A position-based heading direction of the point of interest of the terrestrial vehicle can be determined based on the determined position of the point of interest and at least one previously determined position of the point of interest. A calibrated heading direction can be determined based on a combination of the gyro-based heading direction and the position-based heading direction.

Abstract translation: 用于沿着期望路径引导地面车辆的方法可以包括从全球导航卫星系统（GNSS）天线接收位置信号并且从陀螺仪传感器接收指示以下内容的陀螺仪信号： ）地面车辆的俯仰和滚转中的至少一个，以及（ii）基于陀螺仪的前进方向。 可以基于位置信号，陀螺仪信号以及GNSS天线位置与兴趣点位置之间的位置关系来确定地面车辆的与GNSS天线不同的位置处的兴趣点的位置。 可以基于所确定的关注点的位置和至少一个先前确定的关注点的位置来确定陆地车辆的关注点的基于位置的前进方向。 可以基于基于陀螺仪的前进方向和基于位置的前进方向的组合来确定经校准的前进方向。