JP5046687B2 - 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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- JP5046687B2 JP5046687B2 JP2007058360A JP2007058360A JP5046687B2 JP 5046687 B2 JP5046687 B2 JP 5046687B2 JP 2007058360 A JP2007058360 A JP 2007058360A JP 2007058360 A JP2007058360 A JP 2007058360A JP 5046687 B2 JP5046687 B2 JP 5046687B2
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- Prior art keywords
- kalman filter
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- navigation system
- vehicle
- measurement
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Classifications
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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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Description
Claims (3)
- 車両用のナビゲーション・システムであって、
前記車両に関する慣性データを提供するように構成された慣性測定装置と、
前記車両に関する位置データを提供するように構成された位置決め装置と、
前記慣性測定装置が提供する前記慣性データ及び前記位置決め装置が提供する前記位置データを受信するように構成された処理装置であって、前記処理装置により受信した前記データ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カルマン・フィルタを備え、前記カルマン・フィルタは、前記車両が静止していることをデータが示すときに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、前記車両が位置を変更していることをデータが示すときに前記測定更新誤差状態のみを反復するように構成されるものであり、前記処理装置が更に、更新された前記時間更新誤差状態及び前記測定更新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。 - 請求項1に記載のナビゲーション・システムであって、
前記車両が静止していることをデータが示すということと、前記車両が位置を変更していることをデータが示すということとの判定は、前記車両から受信した1以上の信号に基づいてなされ、
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、
ナビゲーション・システム。 - 請求項1に記載のナビゲーション・システムであって、
前記処理装置が更に、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、
前記カルマン・フィルタが、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る、
ナビゲーション・システム。
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 JP2007240532A (ja) | 2007-09-20 |
JP2007240532A5 JP2007240532A5 (ja) | 2010-04-22 |
JP5046687B2 true JP5046687B2 (ja) | 2012-10-10 |
Family
ID=38370423
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
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 |
---|---|
US (2) | US7643939B2 (ja) |
EP (1) | EP1837627B1 (ja) |
JP (1) | JP5046687B2 (ja) |
DE (1) | DE602007004011D1 (ja) |
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-
2007
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- 2007-03-07 EP EP07103671A patent/EP1837627B1/en not_active Expired - Fee Related
- 2007-03-08 JP JP2007058360A patent/JP5046687B2/ja not_active Expired - Fee Related
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2009
- 2009-10-07 US US12/574,957 patent/US7873472B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE602007004011D1 (de) | 2010-02-11 |
US20100036613A1 (en) | 2010-02-11 |
JP2007240532A (ja) | 2007-09-20 |
US7643939B2 (en) | 2010-01-05 |
EP1837627A2 (en) | 2007-09-26 |
US7873472B2 (en) | 2011-01-18 |
EP1837627B1 (en) | 2009-12-30 |
US20070213933A1 (en) | 2007-09-13 |
EP1837627A3 (en) | 2007-11-28 |
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