System and method of determining an unambiguous heading direction of a vehicle
US8798925B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 19, 2011 |
| Grant date | Aug 5, 2014 |
| Priority date | — |
| Expiry date | Jul 19, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/49
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An unambiguous heading direction is calculated to determine the forward/reverse state of a vehicle. A heading alignment error is determined at step 100, being the difference between a GNSS direction of motion and the unresolved IMU heading of the vehicle. The heading alignment error is adjusted by 180° to be within a predetermined range at step 200. The unresolved IMU heading of the vehicle 10 is adjusted using the heading alignment error to determine an ambiguous error corrected IMU heading at step 300. Step 400 determines whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle. The unambiguous heading direction is calculated at step 500 by offsetting the ambiguous error corrected IMU heading by 180 degrees if the ambiguous error corrected IMU heading is substantially opposite the true direction of the nose the vehicle of the vehicle. The forward/reverse state is determined by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.