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System and method for using parabolic models to improve position estimates from a global positioning system
| Details |
Inventors: Kyrtsos, Christos T.; Sennott, James W.; Gudat, Adam J.; Christensen, Dana A.; Friedrich, Douglas W.; Stafford, Darrell E.;
Assignee: Caterpillar Inc. (Peoria, IL)
Primary Examiner: Park; Collin W.
Assistant Examiner:
Attorney, Agent or Firm: Sterne, Kessler, Goldstein & Fox
Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate. |
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DETAILED DESCRIPTION The present invention is a vehicle positioning system which, as used throughout, means apparatus, method, or a combination of both apparatus and method.
The present invention overcomes many of the limitations of conventional technology in the art of vehicle position determination.
The present invention can be used to aid any navigation system for autonomous vehicles.
The autonomous vehicles can be stationary or moving.
Moreover, the autonomous vehicles can be at or near the Earth's surface.
In other words, the present invention provides for highly accurate and fast tracking of any terrestrial vehicle.
The present invention envisions combining and greatly enhancing the conventional capabilities of an IRU and a GPS in a cost-effective manner to provide extremely accurate position estimates of terrestrial vehicles.
In doing so, the present invention uses many novel and inventive systems, including apparatuses and methods, which allow for a superior positioning capability and, consequently, a flexible autonomous navigational capability.
The present invention further envisions a novel and enhanced combination of three independent subsystems to determine position estimates of vehicles on or near the Earth's surface.
One subsystem is a first positioning system using a GPS, for example, the NAVSTAR GPS.
The first positioning system computes a first position estimate of a vehicle.
Another subsystem is a second positioning system using an IRU and a vehicle odometer.
The second positioning system computes a second position estimate.
The final subsystem is a processing system for computing the more accurate, third position estimate of the vehicle based upon the first and second position estimates from the previous two subsystems.
The present invention envisions a constellation effects method.
The constellation effects method provides for selecting the optimal satellite constellation from a larger group of GPS satellites in view of a vehicle to thereby increase the accuracy of first position estimates derived from a GPS
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Finance 
