US5745868A
Expired / Lapsed
US
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Method for rapid recovery from dead reckoning system heading loss
Assignee: Aumovio Systems Inc
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Filing: 1995-12-26
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Granted: 1998-04-28
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Expires: 2015-12-26
Abstract
Abstract A method of recovering the heading of a terrestrial vehicle navigation system having a GPS receiver integrated with a dead reckoning system. After determining that a current estimate of the heading may be in error (12, 14), Doppler measurement double difference observables are computed for all GPS satellites whose L band carriers are in phase or frequency track, available distance traveled and heading change information is extracted, and the results are combined and processed (20) to produce a new current heading estimate. A recursive estimator is used to guarantee convergence to an accurate result. Conventional GPS/dead reckoning combined systems generally reset to the first available GPS position following a heading loss. Gross positioning errors can accumulate up to this point, however. The methods described can recover the dead reckoning system heading by processing Doppler information from a single GPS satellite, and thus reduce position error growth occurring when the heading is unknown.
Inventors
- 👤 George J. Geier
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 19:03
CPC Classifications
G; G01; G01S; G01S19/00; G01S19/38; G01S19/39; G01S19/53; G01C; G01C21/00; G01C21/26; G01C21/28; G01S19/42; G01S19/421; G01S19/426; G01S3/00; G01S3/02; G01S3/14; G01S3/46; G01S19/43; G01S19/44
Claims Analysis
Total Claims: 29
Claim 1
Independent Claim
168 words
A method of recovering a heading of a vehicle having a navigation system installed thereon, the navigation system including a Global Positioning System (GPS) receiver and a dead reckoning system whereby the dead reckoning system includes a heading rate sensor, the method comprising the steps of: determining heading change information from the navigation system; running anomaly detection tests to determine if a current heading from the dead reckoning system is in error; incrementing a heading uncertainty in response to positive anomaly detection test results; determining whether the heading uncertainty is excessive; if the heading uncertainty is excessive, determining a recovered heading in response to information from both the GPS receiver and the dead reckoning system and when the GPS receiver is unable to determine a reliable heading; determining if a difference between the current heading and the recovered heading is excessive; resetting the current heading and the heading uncertainty if the difference is excessive; and resetting a position of the vehicle in response to the reset current heading.
Claim 2
Independent Claim
168 words
A method of recovering a heading of a vehicle having a navigation system installed thereon, the navigation system including a Global Positioning System (GPS) receiver and a dead reckoning system whereby the dead reckoning system includes a heading rate sensor, the method comprising the steps of: determining heading change information from the navigation system; running anomaly detection tests to determine if a current heading from the dead reckoning system is in error; incrementing a heading uncertainty in response to positive anomaly detection test results; determining whether the heading uncertainty is excessive; if the heading uncertainty is excessive, determining a recovered heading in response to information from both the GPS receiver and the dead reckoning system and when the GPS receiver is unable to determine a reliable heading; determining if a difference between the current heading and the recovered heading is excessive; resetting the current heading and the heading uncertainty if the difference is excessive; and resetting a position of the vehicle in response to the reset current heading.
Claim 3
Dependent Claim
20 words
A method as claimed in claim 1, further comprising the step of recovering a position from a heading loss time.
Claim 4
Dependent Claim
106 words
A method as claimed in claim 1, wherein the step of determining a recovered heading comprises the steps of: computing Doppler measurement double difference observables derived by a GPS receiver for at least one GPS satellite whose L band carrier is in phase or frequency track; extracting distance traveled and heading change information from the dead reckoning system; combining the Doppler measurement double difference observables with the distance traveled and the heading change information to produce a new estimate of the heading; and using a recursive estimator to process the new estimate of the heading with the heading change information to converge on the recovered heading.
Claim 5
Dependent Claim
55 words
A method as claimed in claim 3, wherein the step of determining a recovered heading further comprises the steps of: using a Kalman filter to weight the heading change information with a heading estimate derived from a nonlinear solution technique; and using covariance information from the Kalman filter to determine convergence of the recovered heading.
Claim 6
Dependent Claim
24 words
A method as claimed in claim 3, where the step of extracting comprises the step of extracting from pulse count information from wheel sensors.
Claim 7
Dependent Claim
29 words
A method as claimed in claim 5, wherein the step of running anomaly detection tests comprises the step of comparing the pulse count information to a minimum reliable speed.
Claim 8
Dependent Claim
30 words
A method as claimed in claim 5, wherein the step of running anomaly detection tests further comprises the step of determining if there is an indication of a sensor failure.
Claim 9
Dependent Claim
74 words
A method as claimed in claim 5, wherein the step of running anomaly detection tests further comprises the steps of: testing the heading change information against a maximum heading rate of the vehicle; testing the distance traveled and the heading change information against a maximum lateral acceleration of the vehicle; testing the distance traveled against a maximum speed of the vehicle; and testing the distance traveled against a maximum longitudinal acceleration of the vehicle.
Claim 10
Independent Claim
182 words
A method of recovering the heading of a terrestrial vehicle navigation system comprising a GPS receiver integrated with a dead reckoning system, the method comprising the steps of: determining that a current estimate of the heading may be in error by a predetermined excessive amount; if the current estimate is in error by the predetermined excessive amount, computing Doppler measurement double difference observables derived by the GPS receiver when the GPS receiver is unable to determine a reliable heading; extracting distance traveled and heading change information from heading sensors of the dead reckoning system; combining the Doppler measurement double difference observables with the distance traveled and the heading change information to produce a new current estimate of the heading; using a recursive estimator to process the new current estimate of the heading with the heading change information to guarantee convergence to an accurate estimate of the heading; comparing the accurate estimate of the heading with the current estimate of the heading; and resetting the current estimate of the heading if a difference between the accurate estimate and the current estimate is excessive.
Claim 11
Independent Claim
182 words
A method of recovering the heading of a terrestrial vehicle navigation system comprising a GPS receiver integrated with a dead reckoning system, the method comprising the steps of: determining that a current estimate of the heading may be in error by a predetermined excessive amount; if the current estimate is in error by the predetermined excessive amount, computing Doppler measurement double difference observables derived by the GPS receiver when the GPS receiver is unable to determine a reliable heading; extracting distance traveled and heading change information from heading sensors of the dead reckoning system; combining the Doppler measurement double difference observables with the distance traveled and the heading change information to produce a new current estimate of the heading; using a recursive estimator to process the new current estimate of the heading with the heading change information to guarantee convergence to an accurate estimate of the heading; comparing the accurate estimate of the heading with the current estimate of the heading; and resetting the current estimate of the heading if a difference between the accurate estimate and the current estimate is excessive.
Claim 12
Dependent Claim
27 words
A method as claimed in claim 9, additionally comprising the step of constructing a position for the vehicle from a time that the heading was in error.
Claim 13
Independent Claim
178 words
A method of recovering a heading for a vehicle with a terrestrial navigation system comprising a GPS receiver integrated with wheel sensors providing pulse count information, the method comprising the steps of: determining that a current estimate of the heading may be in error by a predetermined excessive amount; if the current estimate is in error by the predetermined excessive amount, computing Doppler measurement double difference observables derived by the GPS receiver when the GPS receiver is unable to determine a reliable heading; extracting distance traveled and heading change information from the pulse count information; combining the Doppler measurement double difference observables with the distance traveled and the heading change information to produce a new current estimate of the heading; using a recursive estimator to process the new current estimate of the heading with the heading change information to guarantee convergence to an accurate estimate of the heading; comparing the accurate heading estimate with the current heading estimate; and resetting the current heading estimate if a difference between the accurate estimate and the current heading estimate is excessive.
Claim 14
Independent Claim
178 words
A method of recovering a heading for a vehicle with a terrestrial navigation system comprising a GPS receiver integrated with wheel sensors providing pulse count information, the method comprising the steps of: determining that a current estimate of the heading may be in error by a predetermined excessive amount; if the current estimate is in error by the predetermined excessive amount, computing Doppler measurement double difference observables derived by the GPS receiver when the GPS receiver is unable to determine a reliable heading; extracting distance traveled and heading change information from the pulse count information; combining the Doppler measurement double difference observables with the distance traveled and the heading change information to produce a new current estimate of the heading; using a recursive estimator to process the new current estimate of the heading with the heading change information to guarantee convergence to an accurate estimate of the heading; comparing the accurate heading estimate with the current heading estimate; and resetting the current heading estimate if a difference between the accurate estimate and the current heading estimate is excessive.
Claim 15
Dependent Claim
50 words
A method as claimed in claim 11, further comprising the steps of: using a Kalman filter to weight the heading change information with a heading estimate derived from a nonlinear solution technique; and using covariance information from the Kalman filter to determine convergence of the accurate estimate of the heading.
Claim 16
Dependent Claim
27 words
A method as claimed in claim 11, additionally comprising the step of constructing a position for the vehicle from a time that the heading was in error.
Claim 17
Dependent Claim
28 words
A method as claimed in claim 13, additionally comprising the step of incrementing an uncertainty level associated with the current estimate of the heading using anomaly detection tests.
Claim 18
Dependent Claim
29 words
A method as claimed in claim 14, wherein the step of using anomaly detection tests comprises the step of comparing the pulse count information to a minimum reliable speed.
Claim 19
Dependent Claim
29 words
A method as claimed in claim 14, wherein the step of using anomaly detection tests comprises the step of determining if there is an indication of a sensor failure.
Claim 20
Dependent Claim
24 words
A method as claimed in claim 14, additionally comprising the step of comparing the uncertainty level with a convergence limit associated with linear estimators.
Claim 21
Independent Claim
187 words
A method of recovering the heading of a terrestrial vehicle navigation system comprising a GPS receiver integrated with a transmission odometer and a heading rate sensor, the method comprising the steps of: determining that a current estimate of said heading may be in error by a predetermined excessive amount; if the current estimate is in error by the predetermined excessive amount, computing Doppler measurement double difference observables derived by the GPS receiver when the GPS receiver is unable to determine a reliable heading; extracting distance traveled information from the transmission odometer and heading change information from the heading rate sensor; combining said satellite Doppler measurement double difference observables with the distance traveled information and the heading change information to estimate a new current estimate of the heading; using a recursive estimator to process the new estimate of the heading with the heading change information to guarantee convergence to an accurate estimate of the heading; comparing the accurate estimate of the heading estimate with the current heading estimate; and resetting the current heading estimate if a difference between the accurate estimate and the current heading estimate is excessive.
Claim 22
Independent Claim
187 words
A method of recovering the heading of a terrestrial vehicle navigation system comprising a GPS receiver integrated with a transmission odometer and a heading rate sensor, the method comprising the steps of: determining that a current estimate of said heading may be in error by a predetermined excessive amount; if the current estimate is in error by the predetermined excessive amount, computing Doppler measurement double difference observables derived by the GPS receiver when the GPS receiver is unable to determine a reliable heading; extracting distance traveled information from the transmission odometer and heading change information from the heading rate sensor; combining said satellite Doppler measurement double difference observables with the distance traveled information and the heading change information to estimate a new current estimate of the heading; using a recursive estimator to process the new estimate of the heading with the heading change information to guarantee convergence to an accurate estimate of the heading; comparing the accurate estimate of the heading estimate with the current heading estimate; and resetting the current heading estimate if a difference between the accurate estimate and the current heading estimate is excessive.
Claim 23
Dependent Claim
53 words
A method as claimed in claim 18, further comprising the steps of: using a Kalman filter to weight the heading change information with the new current estimate of the heading derived from nonlinear solution techniques; and using covariance information from the Kalman filter to determine convergence of the accurate estimate of the heading.
Claim 24
Dependent Claim
27 words
A method as claimed in claim 18, additionally comprising the step of constructing a position for the vehicle from a time that the heading was in error.
Claim 25
Dependent Claim
31 words
A method as claimed in claim 18, additionally comprising the steps of incrementing an uncertainty level associated with the current estimate of the heading in response to anomaly detection test results.
Claim 26
Dependent Claim
35 words
A method as claimed in claim 21, wherein the step of incrementing comprises the step of determining when the heading rate information is in error due to an erroneous calibration of the heading rate sensor.
Claim 27
Dependent Claim
31 words
A method as claimed in claim 21, wherein the step of incrementing comprises the step of determining when the heading rate information is in error due to heading rate sensor failure.
Claim 28
Dependent Claim
29 words
A method as claimed in claim 21, wherein the step of incrementing further comprises the step of comparing the uncertainty level with a convergence limit associated with linear estimators.
Claim 29
Dependent Claim
25 words
A method as claimed in claim 21, further comprising the step of testing the heading rate information against a maximum heading rate of the vehicle.
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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) | 2001-04-27 | 2001-10-27 | 2002-04-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-04-27 | 2005-10-27 | 2006-04-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-04-27 | 2009-10-27 | 2010-04-28 | $7700.00 | Window Closed / Lapsed |