BR112022021660A2 - Aparelho de navegação e método em que erros de medição de quantização são modelados como estados - Google Patents
Aparelho de navegação e método em que erros de medição de quantização são modelados como estadosInfo
- Publication number
- BR112022021660A2 BR112022021660A2 BR112022021660A BR112022021660A BR112022021660A2 BR 112022021660 A2 BR112022021660 A2 BR 112022021660A2 BR 112022021660 A BR112022021660 A BR 112022021660A BR 112022021660 A BR112022021660 A BR 112022021660A BR 112022021660 A2 BR112022021660 A2 BR 112022021660A2
- Authority
- BR
- Brazil
- Prior art keywords
- quantization error
- state
- covariance matrix
- final
- initial
- Prior art date
Links
- 238000013139 quantization Methods 0.000 title abstract 9
- 238000005259 measurement Methods 0.000 title abstract 5
- 238000000034 method Methods 0.000 title abstract 2
- 239000011159 matrix material Substances 0.000 abstract 5
- 230000000875 corresponding effect Effects 0.000 abstract 2
- 230000002596 correlated effect Effects 0.000 abstract 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
APARELHO DE NAVEGAÇÃO E MÉTODO EM QUE ERROS DE MEDIÇÃO DE QUANTIZAÇÃO SÃO MODELADOS COMO ESTADOS. A presente invenção refere-se a um aparelho de navegação que determina uma posição estimada de um objeto. A informação de navegação que inclui uma sequência de medições quantizadas é recebida. Cada medição quantizada tem um erro de quantização correspondente que está negativamente correlacionado com o erro de quantização de uma medição quantizada anterior. O aparelho realiza iterativamente uma operação de atualização de navegação que inclui determinar um estado e uma matriz covariância do objeto para uma iteração atual com base em um estado e matriz covariância em uma iteração anterior. O estado inclui um erro de quantização final e um erro de quantização inicial. A matriz covariância inclui valores de covariância final e inicial correspondentes aos erros de quantização final e inicial, respectivamente. Determinar o estado e a matriz covariância para a iteração atual inclui substituir o erro de quantização inicial pelo erro de quantização final determinado em uma iteração anterior, e atualizar o estado e a matriz covariância por meio de uma operação de atualização de filtro de Kalman.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US202063019213P | 2020-05-01 | 2020-05-01 | |
US17/235,856 US11650324B2 (en) | 2020-05-01 | 2021-04-20 | Navigation apparatus and method in which measurement quantization errors are modeled as states |
PCT/US2021/028606 WO2021221989A1 (en) | 2020-05-01 | 2021-04-22 | Navigation apparatus and method in which measurement quantization errors are modeled as states |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112022021660A2 true BR112022021660A2 (pt) | 2022-12-20 |
Family
ID=78292769
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112022021660A BR112022021660A2 (pt) | 2020-05-01 | 2021-04-22 | Aparelho de navegação e método em que erros de medição de quantização são modelados como estados |
Country Status (6)
Country | Link |
---|---|
US (1) | US11650324B2 (pt) |
EP (1) | EP4143507B1 (pt) |
CN (1) | CN115485527A (pt) |
AU (1) | AU2021263533A1 (pt) |
BR (1) | BR112022021660A2 (pt) |
WO (1) | WO2021221989A1 (pt) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114739391A (zh) * | 2022-04-06 | 2022-07-12 | 重庆工商大学 | 跟踪目标的定位优化方法 |
CN115790615B (zh) * | 2023-01-30 | 2023-05-05 | 安徽蔚来智驾科技有限公司 | 基于自动驾驶的多传感器融合方法、装置、介质及车辆 |
CN116222584B (zh) * | 2023-05-10 | 2023-07-25 | 北京白水科技有限公司 | 群组导航定位中的分组信息的确定方法、装置及设备 |
CN117951605B (zh) * | 2024-03-26 | 2024-06-07 | 苏州元脑智能科技有限公司 | 扩散模型的量化方法、装置、计算机设备及存储介质 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7994971B2 (en) * | 2008-01-09 | 2011-08-09 | Mayflower Communications Company, Inc. | GPS-based measurement of roll rate and roll angle of spinning platforms |
CN103620444B (zh) * | 2011-03-22 | 2015-07-29 | 天宝导航有限公司 | 使用用于重新收敛的电离层桥接的gnss信号处理 |
WO2015145719A1 (ja) * | 2014-03-28 | 2015-10-01 | 三菱電機株式会社 | 測位装置 |
CN110275192B (zh) * | 2019-05-22 | 2021-01-26 | 东南大学 | 一种基于智能手机的高精度单点定位方法与装置 |
-
2021
- 2021-04-20 US US17/235,856 patent/US11650324B2/en active Active
- 2021-04-22 AU AU2021263533A patent/AU2021263533A1/en active Pending
- 2021-04-22 WO PCT/US2021/028606 patent/WO2021221989A1/en unknown
- 2021-04-22 CN CN202180031465.1A patent/CN115485527A/zh active Pending
- 2021-04-22 EP EP21724945.7A patent/EP4143507B1/en active Active
- 2021-04-22 BR BR112022021660A patent/BR112022021660A2/pt unknown
Also Published As
Publication number | Publication date |
---|---|
CN115485527A (zh) | 2022-12-16 |
WO2021221989A1 (en) | 2021-11-04 |
EP4143507A1 (en) | 2023-03-08 |
EP4143507B1 (en) | 2024-05-29 |
AU2021263533A1 (en) | 2022-11-17 |
US11650324B2 (en) | 2023-05-16 |
US20210341624A1 (en) | 2021-11-04 |
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