US6029111A
Expired / Lapsed
US
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Vehicle navigation system and method using GPS velocities
Assignee: Beacon Navigation GmbH
•
Filing: 1995-12-28
•
Granted: 2000-02-22
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Expires: 2015-12-28
Abstract
Abstract The improved vehicle navigation system can take advantage of the recent availability of low cost micro-machined and piezoelectric sensors, and partially overcomes the low dynamics and line of sight limitations of GPS receivers without resorting to the hard wired approach described above. The low cost sensors introduce system level errors due to their inherent DC offset and drift rates. The improved vehicle navigation system minimizes both the sensor induced errors and GPS low dynamic limitations by using a zero motion detection system as a self contained (within the navigation system), vehicle independent device.
Inventors
- 👤 Steven R. Croyle
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 08:32
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/26; G01C21/28; G01S; G01S19/00; G01S19/38; G01S19/39; G01S19/42; G01S19/45; G01S19/47; G01S19/48; G01S19/49
Claims Analysis
Total Claims: 34
Claim 1
Independent Claim
45 words
An improved navigation system having a GPS receiver which provides GPS velocity information, said navigation system calculating a displacement based upon said GPS velocity information over a time interval, said vehicle navigation system adding said displacement to a previous position to obtain a current position.
Claim 2
Dependent Claim
45 words
An improved navigation system having a GPS receiver which provides GPS velocity information, said navigation system calculating a displacement based upon said GPS velocity information over a time interval, said vehicle navigation system adding said displacement to a previous position to obtain a current position.
Claim 3
Dependent Claim
29 words
The zero motion detection system of claim 1 including a zero motion signal, said detection system produces a zero motion signal to lock heading changes and calibrate velocity information.
Claim 4
Dependent Claim
18 words
The zero motion detection system of claim 2 wherein said detection system resolves ambiguity in GPS velocity information.
Claim 5
Dependent Claim
22 words
The zero motion detection system of claim 1 wherein said detection system determines said offset by averaging samples of said motion signals.
Claim 6
Dependent Claim
30 words
The zero motion detection system of claim 1 wherein said detection system compares at least two samples of said motion signals with a threshold to determine said zero motion state.
Claim 7
Dependent Claim
19 words
An improved navigation system according to claim 1 wherein said GPS velocity information is calculated from delta range measurements.
Claim 8
Dependent Claim
44 words
An improved navigation system according to claim 6 wherein said navigation system calculates each of said delta range measurements based upon a first pseudorange measurement and a subsequent second pseudorange measurement, said time interval between said first pseudorange measurement and said second pseudorange measurement.
Claim 9
Dependent Claim
31 words
An improved navigation system according to claim 7 wherein said navigation system calculates said displacement by integrating said GPS velocity over said time interval between said first and second pseudorange measurements.
Claim 10
Dependent Claim
27 words
An improved navigation system according to claim 8 wherein said navigation system utilizes said GPS velocity information to dead reckon said current position from said previous position.
Claim 11
Dependent Claim
90 words
An improved navigation system comprising: a GPS receiver which provides GPS velocity information, said navigation system using GPS velocity information to propagate a previous position to a current position, said system determines east and north displacements by integrating said GPS velocity information and applies said east and north displacements to said previous position to obtain said current position; and sensors providing information used to propagate vehicle position if said GPS velocity information is not available, said navigation system determines calibration information from said GPS velocity information to calibrate said sensors.
Claim 12
Dependent Claim
90 words
An improved navigation system comprising: a GPS receiver which provides GPS velocity information, said navigation system using GPS velocity information to propagate a previous position to a current position, said system determines east and north displacements by integrating said GPS velocity information and applies said east and north displacements to said previous position to obtain said current position; and sensors providing information used to propagate vehicle position if said GPS velocity information is not available, said navigation system determines calibration information from said GPS velocity information to calibrate said sensors.
Claim 13
Dependent Claim
13 words
The system of claim 10 wherein said sensors is an orthogonal axes accelerometer.
Claim 14
Dependent Claim
32 words
The system of claim 10 further including a zero motion detection system which provides a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.
Claim 15
Dependent Claim
76 words
An improved navigation system according to claim 10 wherein said navigation system calculates said GPS velocity based upon a plurality of delta range measurements, said navigation system calculating each said delta range measurement based upon a different pair of pseudorange measurements, each said pair of pseudorange measurements being received from a different GPS satellite, said navigation system calculates said displacement by integrating said GPS velocity over a time interval between said first and second pseudorange measurements.
Claim 16
Dependent Claim
115 words
An improved navigation system comprising: a GPS receiver which provides GPS velocity information, said navigation system using GPS velocity information to propagate a previous position to a current position, said system determines east and north displacements from said GPS velocity information and applies said east and north displacements to said previous position to obtain said current position; and an orthogonal axes accelerometer providing longitudinal and lateral acceleration information, said vehicle navigation system determines longitudinal and lateral calibration information from said GPS velocity information to calibrate said orthogonal axes accelerometer; and a zero motion detection system which provides a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.
Claim 17
Dependent Claim
115 words
An improved navigation system comprising: a GPS receiver which provides GPS velocity information, said navigation system using GPS velocity information to propagate a previous position to a current position, said system determines east and north displacements from said GPS velocity information and applies said east and north displacements to said previous position to obtain said current position; and an orthogonal axes accelerometer providing longitudinal and lateral acceleration information, said vehicle navigation system determines longitudinal and lateral calibration information from said GPS velocity information to calibrate said orthogonal axes accelerometer; and a zero motion detection system which provides a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.
Claim 18
Dependent Claim
26 words
An improved navigation system according to claim 14 wherein said system integrates said GPS velocity over a time interval to obtain said east and north displacements.
Claim 19
Dependent Claim
38 words
An improved navigation system according to claim 15 wherein said navigation system calculates each of a plurality of delta ranges from different pairs of pseudorange measurements, said navigation system calculates said GPS velocity based upon said delta ranges.
Claim 20
Independent Claim
45 words
A method of determining a current position from a previous position including the steps of: providing GPS velocity information; calculating a displacement based upon said GPS velocity information over a time interval; and using said displacement to propagate a previous position to a current position.
Claim 21
Independent Claim
45 words
A method of determining a current position from a previous position including the steps of: providing GPS velocity information; calculating a displacement based upon said GPS velocity information over a time interval; and using said displacement to propagate a previous position to a current position.
Claim 22
Dependent Claim
35 words
The method of claim 17 wherein said displacement comprises east and north displacements said method further including the step of applying said east and north displacements to said previous position to obtain said current position.
Claim 23
Dependent Claim
29 words
The method of claim 17 further including the step of providing a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.
Claim 24
Dependent Claim
38 words
The method of claim 17 further including the steps of: providing sensor information used to propagate position if said GPS velocity information is not available; and determining calibration information from said GPS velocity information to calibrate said sensors.
Claim 25
Dependent Claim
38 words
The method of claim 17 further including the steps of: providing longitudinal and lateral acceleration information by an orthogonal axes accelerometer; determining longitudinal and lateral calibration information from said GPS velocity information to calibrate said orthogonal axes accelerometer.
Claim 26
Independent Claim
82 words
A method of determining a current position from a previous vehicle position including the steps of: providing GPS velocity information; determining east and north displacements by integrating said GPS velocity information over a time interval; applying said east and north displacements to said previous position to obtain said current position; providing longitudinal and lateral acceleration information by an orthogonal axes accelerometer; determining longitudinal and lateral calibration information from said GPS velocity information; and calibrating said orthogonal axes accelerometer with said calibration information.
Claim 27
Independent Claim
82 words
A method of determining a current position from a previous vehicle position including the steps of: providing GPS velocity information; determining east and north displacements by integrating said GPS velocity information over a time interval; applying said east and north displacements to said previous position to obtain said current position; providing longitudinal and lateral acceleration information by an orthogonal axes accelerometer; determining longitudinal and lateral calibration information from said GPS velocity information; and calibrating said orthogonal axes accelerometer with said calibration information.
Claim 28
Dependent Claim
29 words
The method of claim 15 further including the step of providing a zero motion signal upon detecting a zero motion state to resolve ambiguity of low velocity GPS information.
Claim 29
Dependent Claim
21 words
The method of claim 22 further including the steps of: calculating said GPS velocity based upon a plurality of delta ranges.
Claim 30
Dependent Claim
46 words
The method of claim 24 further including the steps of: receiving a plurality of pairs of pseudorange measurements, each said pair of pseudorange measurements received from a different satellite; calculating each of said plurality of delta range measurements from a different pair of said pseudorange measurements.
Claim 31
Independent Claim
119 words
A method for dead reckoning position utilizing GPS velocity including the steps of: a) determining a first position; b) determining a first pseudorange measurement with respect to each of a plurality of satellites; c) determining a second pseudorange measurement with respect to each of said plurality of satellites after said step b); d) calculating a delta range with respect to each of said plurality of satellites, each based upon one of said first pseudorange measurements and one of said second pseudorange measurements; e) calculating GPS velocity based upon said plurality of delta ranges; f) calculating a displacement based upon said GPS velocity over a time interval; g) adding said displacement to said first position to obtain a second position.
Claim 32
Independent Claim
119 words
A method for dead reckoning position utilizing GPS velocity including the steps of: a) determining a first position; b) determining a first pseudorange measurement with respect to each of a plurality of satellites; c) determining a second pseudorange measurement with respect to each of said plurality of satellites after said step b); d) calculating a delta range with respect to each of said plurality of satellites, each based upon one of said first pseudorange measurements and one of said second pseudorange measurements; e) calculating GPS velocity based upon said plurality of delta ranges; f) calculating a displacement based upon said GPS velocity over a time interval; g) adding said displacement to said first position to obtain a second position.
Claim 33
Dependent Claim
46 words
The method of claim 26 further including the steps of: receiving a plurality of pairs of pseudorange measurements, each said pair of pseudorange measurements received from a different satellite; calculating each of said plurality of delta range measurements from a different pair of said pseudorange measurements.
Claim 34
Dependent Claim
20 words
The method of claim 27 further including the step of integrating said GPS velocity over time to obtain said displacement.
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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) | 2003-02-21 | 2003-08-23 | 2004-02-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-02-21 | 2007-08-23 | 2008-02-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-02-21 | 2011-08-23 | 2012-02-22 | $7700.00 | Window Closed / Lapsed |