BR112023001879A2 - Precisão de navegação estimada estendida - Google Patents

Precisão de navegação estimada estendida

Info

Publication number
BR112023001879A2
BR112023001879A2 BR112023001879A BR112023001879A BR112023001879A2 BR 112023001879 A2 BR112023001879 A2 BR 112023001879A2 BR 112023001879 A BR112023001879 A BR 112023001879A BR 112023001879 A BR112023001879 A BR 112023001879A BR 112023001879 A2 BR112023001879 A2 BR 112023001879A2
Authority
BR
Brazil
Prior art keywords
attitude
vehicle
epoch
computed
compute
Prior art date
Application number
BR112023001879A
Other languages
English (en)
Inventor
Kumar SAINI Vinod
LAKHZOURI Abdelmonaem
Zheng Bo
Morrison William
Original Assignee
Qualcomm Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Publication of BR112023001879A2 publication Critical patent/BR112023001879A2/pt

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)

Abstract

PRECISÃO DE NAVEGAÇÃO ESTIMADA ESTENDIDA. Métodos, sistemas, meio legível por computador, e aparelhos para navegação veicular são apresentados. Algumas configurações incluem a computação de uma primeira atitude de um veículo com relação a um quadro de referência em uma primeira época; com base nos dados de medição de um sistema de navegação inercial (INS) do veículo, computar uma atitude do INS em uma segunda época, subsequente à primeira época; com base na atitude computada do INS e na primeira atitude computada do veículo, computar uma segunda atitude do veículo na segunda época; aplicar uma restrição à segunda atitude computada do veículo; computar uma segunda atitude do veículo na segunda época; aplicar uma restrição à segunda atitude computada do veículo para produzir uma segunda atitude atualizada do veículo; e com base na segunda atitude computada do veículo, computar uma atitude atualizada do INS. Aplicativos relacionados ao uso de veículos na estrada (por exemplo, automóveis) são descritos.
BR112023001879A 2020-08-10 2021-08-10 Precisão de navegação estimada estendida BR112023001879A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202063063834P 2020-08-10 2020-08-10
US17/397,783 US20220042802A1 (en) 2020-08-10 2021-08-09 Extended dead reckoning accuracy
PCT/US2021/045364 WO2022035837A1 (en) 2020-08-10 2021-08-10 Extended dead reckoning accuracy

Publications (1)

Publication Number Publication Date
BR112023001879A2 true BR112023001879A2 (pt) 2023-03-07

Family

ID=80114887

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112023001879A BR112023001879A2 (pt) 2020-08-10 2021-08-10 Precisão de navegação estimada estendida

Country Status (7)

Country Link
US (1) US20220042802A1 (pt)
EP (1) EP4193122A1 (pt)
KR (1) KR20230048324A (pt)
CN (1) CN116056966A (pt)
BR (1) BR112023001879A2 (pt)
TW (1) TW202212777A (pt)
WO (1) WO2022035837A1 (pt)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10753752B2 (en) * 2018-07-26 2020-08-25 Trimble Inc. Vehicle manual guidance systems with steering wheel angle sensors and road wheel angle sensors

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5091047B2 (ja) * 2008-08-12 2012-12-05 株式会社豊田中央研究所 車両姿勢角推定装置及びセンサドリフト推定装置
KR101160630B1 (ko) * 2010-03-26 2012-06-28 위드로봇 주식회사 주행 모드 판별법, 상기 주행 모드 판별을 이용한 항법 시스템 및 그 제공방법
US10222208B2 (en) * 2013-12-27 2019-03-05 Intel Corporation Apparatus, system and method of estimating an orientation of a mobile device
US10288446B2 (en) * 2016-02-05 2019-05-14 Logitech Europe S.A. System and method for movement triggering a head-mounted electronic device while inclined
US10533856B2 (en) * 2017-04-05 2020-01-14 Novatel Inc. Navigation system utilizing yaw rate constraint during inertial dead reckoning
FR3095041B1 (fr) * 2019-04-15 2021-03-19 Commissariat Energie Atomique Procede de determination de la position et de l'orientation d'un vehicule
US20210123754A1 (en) * 2019-10-25 2021-04-29 GM Global Technology Operations LLC Method for unsupervised automatic alignment of vehicle sensors
US10783784B1 (en) * 2020-03-31 2020-09-22 Lyft, Inc. Free lock detection of a micromobility transit vehicle systems and methods
US11518464B2 (en) * 2020-05-26 2022-12-06 Here Global B.V. Method, apparatus, and system for providing automatic alerts for transportation maneuver events

Also Published As

Publication number Publication date
KR20230048324A (ko) 2023-04-11
TW202212777A (zh) 2022-04-01
CN116056966A (zh) 2023-05-02
US20220042802A1 (en) 2022-02-10
EP4193122A1 (en) 2023-06-14
WO2022035837A1 (en) 2022-02-17

Similar Documents

Publication Publication Date Title
CN107084743B (zh) 利用gnss/ins数据的六自由度惯性测量单元的偏移和失准补偿
CN106556403B (zh) 驾驶辅助装置
JP6516881B2 (ja) 車両の位置特定のための方法及び装置
US9632182B2 (en) Vehicle positioning apparatus and method
US20190324463A1 (en) Method for drifting correction for planning a path for autonomous driving vehicles
BR112017017121A2 (pt) mapa esparso para navegação de veículos autônomos
KR20160056711A (ko) 자율주행차량의 주행경로 생성장치 및 방법
DE602006021188D1 (de) Ahrzeug
EP3405374A1 (en) Deceleration curb-based direction checking and lane keeping system for autonomous driving vehicles
BR112022002631A2 (pt) Sistemas e métodos para localização de objetos
So et al. Development and evaluation of an enhanced surrogate safety assessment framework
BR112023001879A2 (pt) Precisão de navegação estimada estendida
KR20190040818A (ko) 차량 내부 센서, 카메라, 및 gnss 단말기를 이용한 3차원 차량 항법 시스템
JP2010170239A (ja) 車両位置情報交換による衝突事故防止システム
US10482787B2 (en) Selective presentation of coasting coach indicator for consecutive learned deceleration areas in close proximity
US20180041416A1 (en) Method and apparatus for using virtual probe points for routing or navigation purposes
CN111207761B (zh) 车辆定位方法、装置、计算机设备和存储介质
BR0213450A (pt) Instalação para contornar, em prazo curto, a falha do sinal de navegação via satélite para dois sistemas de pedágio baseados em navegação via satélite
JP2006227690A (ja) 衝突防止装置
US20210190899A1 (en) Methods and systems for local to global frame transformation
US20200133304A1 (en) Method for verifying a digital map of a more highly automated vehicle (hav), especially of a highly automated vehicle
US10703366B2 (en) Inhibiting highway assist mode
JP6642192B2 (ja) 車両の位置検出装置
US11187815B2 (en) Method of determining location of vehicle, apparatus for determining location, and system for controlling driving
KR101977749B1 (ko) 노면 기울기를 이용한 차량 위치 추정 장치 및 그것의 위치 추정 방법