Data processing: vehicles – navigation – and relative location – Navigation – Employing position determining equipment
Patent
1997-04-02
1999-05-25
Zanelli, Michael
Data processing: vehicles, navigation, and relative location
Navigation
Employing position determining equipment
342457, 701220, G01S 514, G05D 102
Patent
active
059066555
ABSTRACT:
A method for monitoring the integrity of an integrated positioning system located on a mobile machine is provided. The integrated positioning system includes a GPS receiver and an inertial navigation unit (INU). The INU includes an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine. The method includes the steps of receiving a GPS position estimate from a GPS receiver, receiving an INU position estimate from an inertial navigation unit, and comparing the GPS position estimate and the INU position estimate. If the two position estimates are the same, then the system is VALID. Otherwise, the velocity of the mobile machine as determined by the odometer and velocity as determined by the Doppler radar are compared. If the difference is greater than a first predetermined threshold, then the INU is determined to be INVALID. Otherwise a heading rate from gyroscope is compared with a calculated heading rate based on measured steering angle and velocity. If the difference is greater than a second predetermined threshold, then the INU is INVALID, otherwise the GPS is INVALID.
REFERENCES:
patent: 5617317 (1997-04-01), Ignagni
patent: 5646845 (1997-07-01), Gudat et al.
patent: 5657025 (1997-08-01), Ebner et al.
patent: 5787384 (1998-07-01), Johnson
Caterpillar Inc.
Masterson David M.
Zanelli Michael
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