Position and heading error-correction method and apparatus for vehicle navigation systems
US6577952B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 8, 2001 |
| Grant date | Jun 10, 2003 |
| Priority date | — |
| Expiry date | Mar 21, 2021 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/49
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The present invention solves the problems of the prior art by providing methods for compensating for temperature-dependent drift of bias in a vehicle heading sensor of a dead reckoning vehicle positioning system. Specifically, the invention uses a Kalman filter to generate a calibration curve for the rate of heading sensor bias drift with temperature change. The Kalman filter calculates coefficients for a model of heading sensor bias drift rate versus temperature at each point where the vehicle is stationary. The bias drift rate calibration curve is then used to estimate a heading sensor bias periodically while the vehicle is moving. The invention further provides a method for using an aging time for temperature sensor bias drift rate to force convergence of the error variance matrix of the Kalman filter. The invention further provides vehicle navigational systems that utilize the methods of the present invention.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.