Patent ID: 8935121
Filing Date: 2015-01-13
Classification: G01C

Abstract:
1. A method for tracking a position and a heading of a vehicle, at least intermittently using dead reckoning tracking based on velocities of left and right front wheels, the method comprising: receiving, by using a processor, measurement parameters indicative of a velocity v deriving, by using the processor, a value for the velocity v calculating, by using the processor, a function of a calculation wheel angle δ using, by the processor, the function of the calculation wheel angle δ by less than an approximate wheel angle defined as deviates from the same, where a is one half of the front track gauge divided by the wheel base and calculating, by using the processor, values of the position and the heading of the vehicle based on a previous position and heading of the vehicle, using the calculated velocity v and heading rate h of the vehicle.