UA104547C2 - Система та спосіб визначення точного напрямку курсу транспортного засобу - Google Patents

Система та спосіб визначення точного напрямку курсу транспортного засобу

Info

Publication number
UA104547C2
UA104547C2 UAA201301932A UAA201301932A UA104547C2 UA 104547 C2 UA104547 C2 UA 104547C2 UA A201301932 A UAA201301932 A UA A201301932A UA A201301932 A UAA201301932 A UA A201301932A UA 104547 C2 UA104547 C2 UA 104547C2
Authority
UA
Ukraine
Prior art keywords
heading
vehicle
unambiguous
ambiguous
imu
Prior art date
Application number
UAA201301932A
Other languages
English (en)
Russian (ru)
Inventor
Уільям Келлар
Original Assignee
Лейка Геосистемз Аг
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2010903232A external-priority patent/AU2010903232A0/en
Application filed by Лейка Геосистемз Аг filed Critical Лейка Геосистемз Аг
Publication of UA104547C2 publication Critical patent/UA104547C2/uk

Links

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
    • 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
    • G01C21/1654—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 with electromagnetic compass
    • 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
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Burglar Alarm Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Точний напрямок курсу розраховують для визначення прямої/зворотної позиції транспортного засобу. На етапі 100 визначають похибку вивірення курсу, яка є різницею між визначеним GNSS напрямком руху та нерозв'язаним IMU-курсом транспортного засобу. Похибку вивірення курсу коректують на 180° таким чином, щоб вона перебувала у межах заданого діапазону на етапі 200. Нерозв'язаний IMU-курс транспортного засобу 10 коректують з використанням похибки вивірення курсу для визначення неточного IMU-курс з корекцією похибки на етапі 300. На етапі 400 визначають, чи є неточний IMU-курс з корекцією похибки по суті відповідним фактичному напрямкові носа транспортного засобу. Точний напрямок курсу розраховують на етапі 500 шляхом зміщення неточного IMU-курсу з корекцією похибки на 180 градусів, якщо неточний IMU-курс з корекцією похибки є по суті протилежним фактичному напрямкові носа транспортного засобу. Пряму/зворотну позицію визначають шляхом порівняння точного напрямку курсу з визначеним GNSS напрямком руху транспортного засобу.
UAA201301932A 2010-07-20 2011-07-19 Система та спосіб визначення точного напрямку курсу транспортного засобу UA104547C2 (uk)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2010903232A AU2010903232A0 (en) 2010-07-20 A system and method of determining an unambiguous heading direction of a vehicle
PCT/AU2011/000918 WO2012009758A1 (en) 2010-07-20 2011-07-19 A system and method of determining an unambiguous heading direction of a vehicle

Publications (1)

Publication Number Publication Date
UA104547C2 true UA104547C2 (uk) 2014-02-10

Family

ID=45496375

Family Applications (1)

Application Number Title Priority Date Filing Date
UAA201301932A UA104547C2 (uk) 2010-07-20 2011-07-19 Система та спосіб визначення точного напрямку курсу транспортного засобу

Country Status (12)

Country Link
US (1) US8798925B2 (uk)
EP (1) EP2596380B1 (uk)
CN (1) CN103026260B (uk)
AU (1) AU2011282474B2 (uk)
BR (1) BR112013001287B1 (uk)
CA (1) CA2806124C (uk)
MX (1) MX2013000764A (uk)
NZ (1) NZ604857A (uk)
RU (1) RU2551894C2 (uk)
UA (1) UA104547C2 (uk)
WO (1) WO2012009758A1 (uk)
ZA (1) ZA201301302B (uk)

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JP2025103407A (ja) * 2023-12-27 2025-07-09 株式会社クボタ 作業車両、および作業車両を制御する方法

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Also Published As

Publication number Publication date
AU2011282474B2 (en) 2014-02-27
RU2012158247A (ru) 2014-08-27
BR112013001287A2 (pt) 2016-05-17
CN103026260A (zh) 2013-04-03
NZ604857A (en) 2013-10-25
CN103026260B (zh) 2015-05-13
EP2596380A4 (en) 2014-07-02
US20130211716A1 (en) 2013-08-15
EP2596380B1 (en) 2015-09-23
CA2806124C (en) 2016-08-23
EP2596380A1 (en) 2013-05-29
ZA201301302B (en) 2015-09-30
AU2011282474A1 (en) 2013-01-17
RU2551894C2 (ru) 2015-06-10
BR112013001287B1 (pt) 2021-02-17
US8798925B2 (en) 2014-08-05
CA2806124A1 (en) 2012-01-26
MX2013000764A (es) 2013-03-22
WO2012009758A1 (en) 2012-01-26

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