Patent EP0604404A2 successfully refreshed from Google Patents.
EP0604404A2
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EP
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Integrated vehicle positioning and navigation system, apparatus and method
Assignee: Caterpillar Inc
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Filing: 1990-12-10
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Granted: —
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Expires: 2010-12-10
Abstract
Abstract A method for improving the accuracy of terrestrial position estimates of a user antenna (312) located on a vehicle based on pseudoranges derived from satellites (132-170,200-206) of a global position system. The method calculates spatial biases by using the known position of a reference antenna (316) and signals from the satellites. The spatial biases are then transmitted to a vehicle, the position of which is calculated using the spatial biases and other data, so that a more accurate vehicle position estimate can be made.
Inventors
- 👤 Christos T. Kyrtsos
- 👤 Dana A. Christensen
- 👤 Adam J. Gudat
- 👤 Douglas W. Friedrich
- 👤 Darrell E. Stafford
- 👤 James W. Sennott
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-02 17:46
CPC Classifications
G; G01; G01S; G01S19/00; G01S19/38; G01S19/39; G01S19/42; G01S19/45; G01S19/47; G01S19/01; G01S19/03; G01S19/10; G01S19/11; B; B60; B60K; B60K31/00; B60K31/0008; B60K31/02; B60K31/04; B60W; B60W60/00; B60W60/001; B60W60/0011; G01C; G01C21/00; G01C21/10; G01C21/12; G01C21/16; G01C21/165; G01C21/26; G01C21/28; G01S19/40; G01S19/41; G01S19/46; G01S19/48; G01S19/49; G01S7/00; G01S7/48; G01S7/481; G01S7/4811; G01S7/497; G05; G05D; G05D1/00; G05D1/20; G05D1/22; G05D1/221; G05D1/227; G05D1/24; G05D1/242; G05D1/247; G05D1/248; G05D1/60; G05D1/617; G05D1/622; G05D1/646; G05D1/80; G05D1/81; G08; G08G; G08G1/00; G08G1/20; G11; G11B; G11B5/00; G11B5/10; G11B5/105; B60W2554/00; B60W2554/20; B60W2556/00; B60W2556/45; B60W2556/50; B60Y; B60Y2200/00; B60Y2200/40; B60Y2200/41; G01S17/00; G01S17/02; G01S17/06; G01S17/42; G01S17/86; G01S17/88; G01S17/93; G01S17/931; G01S19/13; G01S19/24; G01S19/27; G01S19/52; G01S5/00; G01S5/0009; G01S5/009; G05D2105/00; G05D2105/20; G05D2105/28; G05D2107/00; G05D2107/70; G05D2107/73; G05D2109/00; G05D2109/10
Claims Analysis
Total Claims: 2
Claim 1
Independent Claim
236 words
A method for improving the accuracy of terrestrial position estimates of a user antenna (312) located on a vehicle based on pseudoranges derived from satellites (132-170,200-206) of a global position system, the method comprising the steps of: obtaining a known position of a reference antenna (316); receiving electromagnetic signals at the reference antenna from a constellation of satellites and responsively determining respective reference antenna pseudoranges (R₀,R₁,R₂,R₃); determining an estimated position of the reference antenna using the reference antenna pseudoranges; comparing the estimated position of the reference antenna with the known position of the reference antenna to derive a spatial bias; transmitting the reference antenna pseudoranges and the spatial bias to the vehicle; receiving electromagnetic signals at the user antenna on the vehicle, receiving the reference antenna pseudoranges and the spatial bias at the vehicle and responsively determining a position estimate of the vehicle as a function of the spatial bias and the electromagnetic signals; at the vehicle, determining another estimate of the position of the reference antenna as a function of the reference antenna pseudoranges; determining an offset as a function of the another estimate of the position of the reference antenna and the known position of the reference antenna; and updating the position estimate of the vehicle as a function of the offset; and repeating the second vehicle position estimate determining step and offset determining step until the offset is less than a predetermined threshold.
Claim 2
Independent Claim
234 words
A method for improving the accuracy of terrestrial position estimates of a user antenna (312) located at a vehicle, the method comprising the steps of: obtaining a known position of a reference antenna (316); receiving electromagnetic signals at the reference antenna from a constellation of satellites (132-170,200-206) and responsively determining respective reference antenna pseudoranges; computing an estimated position of the reference antenna using the reference antenna pseudoranges (R o ,R₁,R₂,R₃); comparing the estimated position of the reference antenna with the known position of the reference antenna to derive a base residuals bias; transmitting the base residuals bias and the reference antenna pseudoranges to the vehicle; receiving electromagnetic signals at the user antenna, receiving the base residuals bias and the reference antenna pseudoranges at the vehicle, and computing future user pseudoranges as a function of the base residuals bias; determining a position estimate of the vehicle as a function of the future user pseudoranges; at the vehicle, determining another estimate of the position of the reference antenna as a function of the reference antenna pseudoranges; determining an offset as a function of the another estimate of the position of the reference antenna and the known position of the reference antenna; updating the position estimate of the vehicle as a function of the offset; and repeating the second vehicle position estimate determining step and offset determining step until the offset is less than a predetermined threshold.
References Cited (Backward Citations)
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