US5555503A
Expired / Lapsed
US
⏱️ 0.0 years remaining
System and method for providing accurate vehicle positioning using spatial bias techniques
Assignee: Caterpillar Inc
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Filing: 1993-11-23
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Granted: 1996-09-10
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Expires: 2013-11-23
Abstract
Abstract A vehicle position determination system and method provide accurate vehicle positioning using a global positioning system. Spatial bias techniques are used to improve positioning accuracy while the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path. The use of spatial bias techniques is suspended while the vehicle is approaching or in a drastically nonlinear path.
Inventors
- 👤 Christos T. Kyrtsos
- 👤 Adam J. Gudat
- 👤 Dana A. Christensen
- 👤 Douglas W. Friedrich
- 👤 Darrell E. Stafford
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 08:25
CPC Classifications
G; G01; G01S; G01S19/00; G01S19/01; G01S19/03; G01S19/10; G01S19/11; G01S19/38; G01S19/39; G01S19/42; G01S19/45; G01S19/46; G01S19/47; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0276; G05D1/028; G08; G08G; G08G1/00; G08G1/20; G08G1/202; B; B60; B60W; B60W50/00; B60W2050/0062; B60W2050/0075; B60W2556/00; B60W2556/45; B60W2556/50; B60W30/00; B60W30/14; B60W30/143; G01S17/00; G01S17/02; G01S17/06; G01S17/42; G01S17/86; G01S17/88; G01S17/93; G01S17/931; G01S19/13; G01S19/24; G01S19/27; G01S19/40; G01S19/41; G01S19/52; G01S5/00; G01S5/0009; G01S5/009; G01S7/00; G01S7/48; G01S7/481; G01S7/4811
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
81 words
A method for implementing spatial bias techniques in a system that determines the position of a vehicle, comprising the steps of: (1) receiving navigation signals from a terrestrial positioning system; (2) computing position estimates of the vehicle using spatial bias techniques and said navigation signals; (3) if the vehicle approaches a drastic nonlinear path, then ceasing use of said spatial bias techniques; and (4) computing said position estimates without said spatial bias techniques until the vehicle approaches a relatively linear path.
Claim 2
Independent Claim
81 words
A method for implementing spatial bias techniques in a system that determines the position of a vehicle, comprising the steps of: (1) receiving navigation signals from a terrestrial positioning system; (2) computing position estimates of the vehicle using spatial bias techniques and said navigation signals; (3) if the vehicle approaches a drastic nonlinear path, then ceasing use of said spatial bias techniques; and (4) computing said position estimates without said spatial bias techniques until the vehicle approaches a relatively linear path.
Claim 3
Dependent Claim
28 words
The method of claim 1, wherein said step (1) of using spatial bias techniques comprises: using an original bias technique to compute a position estimate for the vehicle.
Claim 4
Dependent Claim
28 words
The method of claim 1, wherein said step (1) of using spatial bias techniques comprises: using a parabolic bias technique to compute a position estimate for the vehicle.
Claim 5
Dependent Claim
29 words
The method of claim 1, wherein said step (1) of using spatial bias techniques comprises: using a base residual bias technique to compute a position estimate for the vehicle.
Claim 6
Independent Claim
86 words
A method for determining the position of a vehicle at or near the surface of the Earth using navigation signals received from a terrestrial positioning system, comprising the steps of: (1) receiving the navigation signals at a reference receiver at a known position; (2) processing the navigation signals to determine a spatial bias; and (3) computing the position of the vehicle using said spatial bias only when the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path.
Claim 7
Independent Claim
86 words
A method for determining the position of a vehicle at or near the surface of the Earth using navigation signals received from a terrestrial positioning system, comprising the steps of: (1) receiving the navigation signals at a reference receiver at a known position; (2) processing the navigation signals to determine a spatial bias; and (3) computing the position of the vehicle using said spatial bias only when the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path.
Claim 8
Dependent Claim
30 words
The method of claim 5, wherein said step (2) of processing the navigation signals comprises: subtracting estimated pseudoranges and a clock bias from actual pseudoranges to compute an original bias.
Claim 9
Dependent Claim
65 words
The method of claim 5, wherein said step (2) of processing the navigation signals comprises: subtracting an associated value on a parabolic model and a clock bias from actual pseudoranges to compute a parabolic bias, said parabolic model constructed over a time period from prior actual pseudoranges, said clock bias being a difference in clock rates between said reference receiver and the terrestrial positioning system.
Claim 10
Dependent Claim
44 words
The method of claim 5, wherein said step (2) of processing the navigation signals comprises: computing an estimated position of said reference receiver; computing a difference between said estimated position and said known position of said reference receiver to yield a base residual bias.
Claim 11
Independent Claim
101 words
A system for determining the position of a vehicle at or near the surface of the Earth using navigation signals received from a terrestrial positioning system, comprising: a reference receiver, located at a known position, for receiving the navigation signals; bias means for computing a spatial bias from said known position and the navigation signals received by said reference receiver; and a vehicle-based receiver for receiving the navigation signals and computing the position of the vehicle using said spatial bias only when the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path.
Claim 12
Independent Claim
101 words
A system for determining the position of a vehicle at or near the surface of the Earth using navigation signals received from a terrestrial positioning system, comprising: a reference receiver, located at a known position, for receiving the navigation signals; bias means for computing a spatial bias from said known position and the navigation signals received by said reference receiver; and a vehicle-based receiver for receiving the navigation signals and computing the position of the vehicle using said spatial bias only when the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path.
Claim 13
Dependent Claim
21 words
The system of claim 9, further comprising: means for communicating said spatial bias from said reference receiver to said vehicle-based receiver.
Claim 14
Dependent Claim
27 words
The system of claim 9, wherein said bias means comprises: means for subtracting estimated pseudoranges and a clock bias from actual pseudoranges to compute an original bias.
Claim 15
Dependent Claim
62 words
The system of claim 9, wherein said bias means comprises: means for subtracting an associated value on a parabolic model and a clock bias from actual pseudoranges to compute a parabolic bias, said parabolic model constructed over a time period from prior actual pseudoranges, said clock bias being a difference in clock rates between said reference receiver and the terrestrial positioning system.
Claim 16
Dependent Claim
46 words
The system of claim 9, further comprising: means for computing an estimated position of said reference receiver, and wherein said bias means comprises means for computing a difference between said estimated position and said known position of said reference receiver to yield a base residual bias.
Claim 17
Independent Claim
146 words
A method for determining the position of an autonomous mining vehicle in an open pit mine using navigation signals from a terrestrial positioning system: (1) receiving the navigation signals at a base station located in or near the open pit mine; (2) processing the navigation signals received at said base station to determine a spatial bias; (3) communicating said spatial bias to the vehicle; (4) receiving the navigation signals and said spatial bias at the vehicle; (5) computing the position of the vehicle from the navigation signals and said spatial bias when the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path; and (6) computing the position of the vehicle from the navigation signals without said spatial bias when the vehicle is approaching a drastically nonlinear path and when the vehicle is in a drastically nonlinear path.
Claim 18
Independent Claim
146 words
A method for determining the position of an autonomous mining vehicle in an open pit mine using navigation signals from a terrestrial positioning system: (1) receiving the navigation signals at a base station located in or near the open pit mine; (2) processing the navigation signals received at said base station to determine a spatial bias; (3) communicating said spatial bias to the vehicle; (4) receiving the navigation signals and said spatial bias at the vehicle; (5) computing the position of the vehicle from the navigation signals and said spatial bias when the vehicle is in the midst of a relatively linear path and is not approaching a drastically nonlinear path; and (6) computing the position of the vehicle from the navigation signals without said spatial bias when the vehicle is approaching a drastically nonlinear path and when the vehicle is in a drastically nonlinear path.
Claim 19
Dependent Claim
32 words
The method of claim 14, wherein said step (2) of processing the navigation signals comprises: subtracting an estimated pseudorange and a clock bias from an actual pseudorange to compute an original bias.
Claim 20
Dependent Claim
66 words
The method of claim 14, wherein said step (2) of processing the navigation signals comprises: subtracting an associated value on a parabolic model and a clock bias from an actual pseudorange to compute a parabolic bias, said parabolic model constructed over a time period from prior actual pseudoranges, said clock bias being a difference in clock rates between said base station and the terrestrial positioning system.
Claim 21
Dependent Claim
44 words
The method of claim 14, wherein said step (2) of processing said navigation signals comprises: computing an estimated position of said base station; computing a difference between said estimated position and said known position of said base station to yield a base residual bias.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1999-09-10 | 2000-03-11 | 2000-09-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-09-10 | 2004-03-11 | 2004-09-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-09-10 | 2008-03-11 | 2008-09-10 | $7700.00 | Window Closed / Lapsed |