CN105190356A - 使用车辆传感器、移动装置和gnss输入进行前进方向、速度和位置估计 - Google Patents

使用车辆传感器、移动装置和gnss输入进行前进方向、速度和位置估计 Download PDF

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Publication number
CN105190356A
CN105190356A CN201480016681.9A CN201480016681A CN105190356A CN 105190356 A CN105190356 A CN 105190356A CN 201480016681 A CN201480016681 A CN 201480016681A CN 105190356 A CN105190356 A CN 105190356A
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CN
China
Prior art keywords
data
vehicle
gyroscope
received
odometry
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201480016681.9A
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English (en)
Chinese (zh)
Inventor
约瑟夫·聪波
本杰明·A·沃纳
韦莎·韦科·鲁斯卡
威廉·詹姆斯·莫里森
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Qualcomm Inc
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Qualcomm Inc
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Filing date
Publication date
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Publication of CN105190356A publication Critical patent/CN105190356A/zh
Pending legal-status Critical Current

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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
    • G01C21/165—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 combined with non-inertial navigation instruments
    • 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
    • G01S19/48—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
    • 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
    • G01C21/165—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 combined with non-inertial navigation instruments
    • G01C21/1654—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 combined with non-inertial navigation instruments with electromagnetic compass

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)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
CN201480016681.9A 2013-03-22 2014-03-21 使用车辆传感器、移动装置和gnss输入进行前进方向、速度和位置估计 Pending CN105190356A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201361804490P 2013-03-22 2013-03-22
US61/804,490 2013-03-22
US14/087,797 US9250083B2 (en) 2013-03-22 2013-11-22 Heading, velocity, and position estimation with vehicle sensors, mobile device, and GNSS inputs
US14/087,797 2013-11-22
PCT/US2014/031427 WO2014153501A1 (en) 2013-03-22 2014-03-21 Heading, velocity, and position estimation with vehicle sensors, mobile device, and gnss inputs

Publications (1)

Publication Number Publication Date
CN105190356A true CN105190356A (zh) 2015-12-23

Family

ID=51569739

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480016681.9A Pending CN105190356A (zh) 2013-03-22 2014-03-21 使用车辆传感器、移动装置和gnss输入进行前进方向、速度和位置估计

Country Status (6)

Country Link
US (1) US9250083B2 (https=)
EP (1) EP2976659A1 (https=)
JP (1) JP6181283B2 (https=)
KR (1) KR20150132561A (https=)
CN (1) CN105190356A (https=)
WO (1) WO2014153501A1 (https=)

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CN106564506A (zh) * 2016-11-08 2017-04-19 上海海积信息科技股份有限公司 一种预测车辆位置信息是否合规的方法及装置
CN108051839A (zh) * 2017-10-27 2018-05-18 成都天合世纪科技有限责任公司 一种车载三维定位装置及三维定位的方法
CN108423032A (zh) * 2018-05-14 2018-08-21 中国铁路设计集团有限公司 基于北斗导航卫星的遥控轨道测量车及其测量检测方法
CN108885119A (zh) * 2016-04-07 2018-11-23 高通股份有限公司 多层行进距离估计器
CN109792583A (zh) * 2016-09-19 2019-05-21 高通股份有限公司 基于位置的传感器共享
CN112088319A (zh) * 2018-05-03 2020-12-15 大陆-特韦斯股份有限公司 用于根据车速确定一车辆位置的方法

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US11743686B2 (en) 2020-11-25 2023-08-29 Here Global B.V. Aligning in-vehicle mobile device and vehicle bodies for improved global positioning
EP4222609A4 (en) 2020-12-17 2025-02-05 Swift Navigation, Inc. SYSTEM AND METHOD FOR MERGING DUE DOWNHAND NAVIGATION AND GNSS DATA STREAMS
WO2023009463A1 (en) 2021-07-24 2023-02-02 Swift Navigation, Inc. System and method for computing positioning protection levels
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US11860287B2 (en) 2022-03-01 2024-01-02 Swift Navigation, Inc. System and method for detecting outliers in GNSS observations
US12013468B2 (en) 2022-09-01 2024-06-18 Swift Navigation, Inc. System and method for determining GNSS corrections
WO2024058999A1 (en) 2022-09-12 2024-03-21 Swift Navigation, Inc. System and method for gnss correction transmission
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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN108885119A (zh) * 2016-04-07 2018-11-23 高通股份有限公司 多层行进距离估计器
CN109792583A (zh) * 2016-09-19 2019-05-21 高通股份有限公司 基于位置的传感器共享
CN106564506A (zh) * 2016-11-08 2017-04-19 上海海积信息科技股份有限公司 一种预测车辆位置信息是否合规的方法及装置
CN106564506B (zh) * 2016-11-08 2019-01-18 上海海积信息科技股份有限公司 一种预测车辆位置信息是否合规的方法及装置
CN108051839A (zh) * 2017-10-27 2018-05-18 成都天合世纪科技有限责任公司 一种车载三维定位装置及三维定位的方法
CN108051839B (zh) * 2017-10-27 2021-11-05 成都天合世纪科技有限责任公司 一种车载三维定位装置及三维定位的方法
CN112088319A (zh) * 2018-05-03 2020-12-15 大陆-特韦斯股份有限公司 用于根据车速确定一车辆位置的方法
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CN108423032A (zh) * 2018-05-14 2018-08-21 中国铁路设计集团有限公司 基于北斗导航卫星的遥控轨道测量车及其测量检测方法
CN108423032B (zh) * 2018-05-14 2023-09-05 中国铁路设计集团有限公司 基于北斗导航卫星的遥控轨道测量车及其测量检测方法

Also Published As

Publication number Publication date
JP6181283B2 (ja) 2017-08-16
WO2014153501A1 (en) 2014-09-25
JP2016519297A (ja) 2016-06-30
US20140288825A1 (en) 2014-09-25
EP2976659A1 (en) 2016-01-27
US9250083B2 (en) 2016-02-02
KR20150132561A (ko) 2015-11-25

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Effective date of abandoning: 20190329