Patent ID: 8639441
Filing Date: 2014-01-28
Classification: G01S

Abstract:
1. A method for vehicle navigation, comprising: obtaining satellite positioning data from a satellite positioning device of a vehicle; obtaining vehicle sensor data from a number of sensors of the vehicle; and combining the satellite positioning data and the vehicle sensor data by a Kalman filter to obtain a combined state vector estimate of the vehicle; wherein the Kalman filter comprises wherein the third filter comprises a prediction processor which generates a fed back predicted state vector estimate on the basis of the combined state vector estimate and a predicted state error covariance matrix on the basis of the combined state error covariance matrix, wherein the predicted state vector estimate and the predicted state error covariance matrix are fed back to the first filter, the second filter, and the third filter, wherein the first filter determines the first state vector estimate by updating the fed back predicted state vector estimate with the received satellite positioning data, and wherein the second filter determines the second state vector estimate by updating the fed back predicted state vector estimate with the received vehicle sensor data.