JP2007240532A - ナビゲーション・システム内での反復拡張カルマン・フィルタを実施する方法及び装置 - Google Patents
ナビゲーション・システム内での反復拡張カルマン・フィルタを実施する方法及び装置 Download PDFInfo
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- JP2007240532A JP2007240532A JP2007058360A JP2007058360A JP2007240532A JP 2007240532 A JP2007240532 A JP 2007240532A JP 2007058360 A JP2007058360 A JP 2007058360A JP 2007058360 A JP2007058360 A JP 2007058360A JP 2007240532 A JP2007240532 A JP 2007240532A
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- 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
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
【解決手段】慣性測定装置は、車両の運転に関する第1のセットのデータを提供するように構成され、位置決め装置は、車両の運転に関する第2のセットのデータを提供するように構成れる。処理装置は、慣性測定装置及び位置決め装置が提供するデータのセットを受信するように構成され、処理装置は誤差処理装置を備える。誤差処理装置は、処理装置が受信したデータのセットに関係する時間更新誤差状態及び測定更新誤差状態を用いてプログラムされるものであり、第1の基準に基づいて時間更新誤差状態及び測定更新誤差状態の双方を繰り返し、第2の基準に基づいて測定更新誤差状態のみを繰り返すように構成される。
【選択図】図2
Description
Claims (9)
- 車両用のナビゲーション・システム(10)であって、
前記車両の運転に関する第1のセットのデータを提供するように構成された慣性測定装置と、
前記車両の運転に関する第2のセットのデータを提供するように構成された位置決め装置と、
前記慣性測定装置及び前記位置決め装置が提供する前記データの前記セットを受信するように構成された処理装置(70)であって、受信した前記データの前記セットに関連する時間更新誤差状態及び測定更新誤差状態を用いてプログラムされる誤差処理装置を備え、前記誤差処理装置は、第1の基準に基づいて前記時間更新誤差状態及び前記測定更新誤差状態の双方を反復し、第2の基準に基づいて前記測定更新誤差状態のみを反復するように構成され、前記処理装置が更に、更新された前記の誤差状態に基づいて少なくとも前記車両の位置及び速度を推定するように構成された、処理装置と
を備えるナビゲーション・システム。 - 前記誤差処理装置がカルマン・フィルタ(12)を備える、請求項1に記載のナビゲーション・システム(10)。
- 前記慣性測定装置が、前記車両についての加速度データ及び角速度データを提供するように構成された加速度計およびジャイロスコープの少なくとも1つを備える、請求項1に記載のナビゲーション・システム(10)。
- 前記位置決め装置が、擬似範囲測定に基づいて前記車両についての位置データ、速度データ及び高度データを提供するように構成されたグローバルポジショニングシステム(20)を備える、請求項1に記載のナビゲーション・システム(10)。
- 前記第1の基準と前記第2の基準との間での決定は、前記車両から受信した1以上の信号に基づいてなされる、請求項1に記載のナビゲーション・システム(10)。
- 前記車両から受信した前記信号は、ホイール下降信号、ホイール加重信号、及びブレーキ信号のうちの1以上のものを含む、請求項5に記載のナビゲーション・システム(10)。
- 前記処理装置(70)が更に、気圧高度計、真対気速度指示器、及び磁力計のうちの1以上のものからデータを受信するように構成される、請求項1に記載のナビゲーション・システム(10)。
- 前記処理装置(70)が、少なくとも位置誤差状態及び速度誤差状態で初期設定されたカルマン・フィルタ(12)を備える、請求項1に記載のナビゲーション・システム(10)。
- 前記第1の基準が、前記車両の位置変化を示すものではないデータを備え、前記第2の基準が、前記車両の位置変化を示すデータを備える、請求項1に記載のナビゲーション・システム(10)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/370,442 US7643939B2 (en) | 2006-03-08 | 2006-03-08 | Methods and systems for implementing an iterated extended Kalman filter within a navigation system |
US11/370,442 | 2006-03-08 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2007240532A true JP2007240532A (ja) | 2007-09-20 |
JP2007240532A5 JP2007240532A5 (ja) | 2010-04-22 |
JP5046687B2 JP5046687B2 (ja) | 2012-10-10 |
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Application Number | Title | Priority Date | Filing Date |
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JP2007058360A Expired - Fee Related JP5046687B2 (ja) | 2006-03-08 | 2007-03-08 | ナビゲーション・システム内での反復拡張カルマン・フィルタを実施する方法及び装置 |
Country Status (4)
Country | Link |
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US (2) | US7643939B2 (ja) |
EP (1) | EP1837627B1 (ja) |
JP (1) | JP5046687B2 (ja) |
DE (1) | DE602007004011D1 (ja) |
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US8249800B2 (en) | 2009-06-09 | 2012-08-21 | Alpine Electronics, Inc. | Method and apparatus to detect platform stationary status using three-axis accelerometer outputs |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8249800B2 (en) | 2009-06-09 | 2012-08-21 | Alpine Electronics, Inc. | Method and apparatus to detect platform stationary status using three-axis accelerometer outputs |
JP2015114218A (ja) * | 2013-12-12 | 2015-06-22 | セイコーエプソン株式会社 | 信号処理装置、検出装置、センサー、電子機器及び移動体 |
JP2015114221A (ja) * | 2013-12-12 | 2015-06-22 | セイコーエプソン株式会社 | 信号処理装置、検出装置、センサー、電子機器及び移動体 |
US10215785B2 (en) | 2013-12-12 | 2019-02-26 | Seiko Epson Corporation | Signal processing device, detection device, sensor, electronic apparatus and moving object |
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WO2023058261A1 (ja) * | 2021-10-08 | 2023-04-13 | 東京計器株式会社 | 位置補正装置 |
Also Published As
Publication number | Publication date |
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JP5046687B2 (ja) | 2012-10-10 |
DE602007004011D1 (de) | 2010-02-11 |
EP1837627A3 (en) | 2007-11-28 |
US20070213933A1 (en) | 2007-09-13 |
US20100036613A1 (en) | 2010-02-11 |
US7873472B2 (en) | 2011-01-18 |
EP1837627A2 (en) | 2007-09-26 |
US7643939B2 (en) | 2010-01-05 |
EP1837627B1 (en) | 2009-12-30 |
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