Patent ID: 9529092
Filing Date: 2016-12-27
CPC Classification: G01S

Claim Text:
1. A method for detecting and mitigating errors in a positioning system on a machine, comprising: receiving, at a processor, a first position signal generated from a plurality of first signals received through an antenna on the machine from a global navigation satellite system (GNSS) indicative of a first position of a machine and a second position signal generated from a plurality of second signals received through the antenna on the machine from the GNSS indicative of a second position of the machine; determining, at the processor, a difference between the first position and the second position; determining, at the processor, an actual distance traveled by the machine based on an output of an inertial sensor on the machine; detecting, at the processor, a first error in a current position of the machine when the difference between the first position and the second position exceeds a first threshold of a maximum distance the machine could have traveled given a maximum velocity of the machine; upon the difference between the first position and the second position not exceeding the threshold of the maximum distance the machine could have traveled given the maximum velocity of the machine, detecting, at the processor, a second error in the current position of the machine when the difference between the first position and the second position exceeds a second threshold of the actual distance traveled by the machine determined based on the output of the inertial sensor on the machine; and mitigating, at the processor, the detected first error and the detected second error in the current position of the machine by switching from an output of the positioning system to a position output determined based upon the output of the inertial sensor to update the current position.