Method and apparatus for automatic calibration of the wheel trac

Details Method and apparatus for automatic calibration of the wheel trac Method and apparatus for automatic calibration of the wheel trac

1996-12-16

1999-07-27

Cuchlinski, Jr., William A.

Data processing: vehicles, navigation, and relative location

Vehicle control, guidance, operation, or indication

Vehicle diagnosis or maintenance indication

701205, G06F 1900

Patent

active

059282959

ABSTRACT:
This invention reduces the navigation error associated with the use of wheel sensor based DR as an augmentation to GPS. In order to derive accurate heading information from the wheel speeds, the distance between the centers of the tires, or the wheel track, must be known to high precision. Unfortunately, the wheel track may not be precisely known whereby different classes of the same vehicle type can produce variations of up to 5%. The current invention removes the error growth associated with wheel track error by automatically estimating and calibrating the wheel track. The wheel track is measured by computing a heading rate directly from the GPS Doppler measurements, and comparing it with the heading rate derived from the wheel sensors whereby subsequent refinements to the estimated wheel track are computed by filtering each measured track.

REFERENCES:
patent: 4734863 (1988-03-01), Honey et al.
patent: 4788645 (1988-11-01), Zavoli et al.
patent: 5156038 (1992-10-01), Kozikaro
patent: 5684476 (1997-11-01), Anderson

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