Source: http://www.google.nl/patents/US20060220954
Timestamp: 2017-12-16 05:13:16
Document Index: 433143970

Matched Legal Cases: ['art 1997', 'art 1997', 'art 1998', 'art 2000', 'art 2001', 'art 2004', 'art 2005', 'art 2005', 'art 2001', 'art 2007', 'art 2017']

Patent US20060220954 - Method and system for determining the location of a vehicle - Google Patenten
A first location determining receiver determines a first location estimate of a vehicle. The first location determining receiver is associated with satellite beacons. A second location determining receiver determines a second location estimate of a vehicle. The second location determining receiver is...http://www.google.nl/patents/US20060220954?utm_source=gb-gplus-sharePatent US20060220954 - Method and system for determining the location of a vehicle
Publicatienummer US20060220954 A1
Aanvraagnummer US 11/095,838
Publicatiedatum 5 okt 2006
Ook gepubliceerd als EP1707979A2, EP1707979A3, US7479922
Publicatienummer 095838, 11095838, US 2006/0220954 A1, US 2006/220954 A1, US 20060220954 A1, US 20060220954A1, US 2006220954 A1, US 2006220954A1, US-A1-20060220954, US-A1-2006220954, US2006/0220954A1, US2006/220954A1, US20060220954 A1, US20060220954A1, US2006220954 A1, US2006220954A1
Uitvinders Kenneth Hunt, Mark Schmidt, David Holm, Michael Zeitzew, Scott Stephens
Oorspronkelijke patenteigenaar Hunt Kenneth E, Schmidt Mark A, Holm David R, Zeitzew Michael A, Stephens Scott A
Patentcitaties (59), Verwijzingen naar dit patent (12), Classificaties (10), Juridische gebeurtenissen (3)
Method and system for determining the location of a vehicle
US 20060220954 A1
1. A method for accurately determining a location of a vehicle, the method comprising:
determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
selecting the first location estimate of the vehicle as a preferential location in accordance with an initialization scheme for the vehicle in a work area; and
applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as the preferential location upon satisfactory completion of the initialization scheme.
establishing the first weight based on a first variance of the first location estimate such that the first weight varies generally inversely to the first variance; and
establishing the second weight based on a second variance of the second location estimate such that the second weight varies generally inversely with the second variance.
establishing a first target probability density function for the first location estimate based on empirical measurements in a work area;
establishing a second target probability density function for the second location estimate based on empirical measurements in the work area; and
providing a soft transition from a first location estimate as the dominant estimate and a second location estimate as the dominant estimate by limiting a rate of change in the first weight and the second weight in accordance with the first target probability density function and the second probability density function.
4. The method according to claim 1 wherein the initialization scheme comprises a time period between start-up of a vehicle and moving the vehicle into a defined home position in a work area for execution of a task in the work area.
5. The method according to claim 1 wherein the initialization scheme comprises a time period between start-up of a vehicle and moving the vehicle into a defined home position in a work area for execution of a path plan in the work area.
6. The method according to claim 1 wherein the initialization scheme comprises a time period between start-up of a vehicle and verification that the second location determining receiver receives at least one of a pilot signal and an initialization transmission associated with the stationary beacons around the work area.
7. The method according to claim 1 wherein the applying of the first weight and the second weight conforms to a least squares estimation for the first location estimate and the second location estimate.
8. The method according to claim 8 wherein the least squares estimation is consistent with a generally linear relationship of the first location estimate and the second location estimate over time.
9. The method according to claim 1 wherein the applying of the first weight and the second weight conforms to a weighted least squares estimation for the first location estimate and the second location estimate.
10. The method according to claim 9 wherein the weighted least squares estimation is consistent with a generally linear relationship of the first location estimate and the second location estimate over time.
providing measurement predictions and variances associated with the first location estimate and the second location estimate; and
limiting a tracking loop of location measurement data based on feedback of the measurement predictions and variances.
12. A method for accurately determining a location of a vehicle, the method comprising:
applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as a preferential location of the vehicle;
providing a soft transition from the first location estimate as a dominant estimate in the weighted estimate and the second location estimate as the dominant estimate in the weighted estimate by limiting a rate of change in the first weight and the second weight in accordance with the first target probability density function and the second probability density function.
establishing the first weight based on a first variance of the first location estimate such that the first weight varies inversely to the first variance; and
establishing the second weight based on a second variance of the second location estimate such that the second weight varies inversely with the second variance.
14. A system for accurately determining a location of a vehicle, the system comprising:
a first location determining receiver for determining a first location estimate of a vehicle based on a first location determining receiver associated with satellite beacons;
a second location determining receiver for determining a second location estimate of a vehicle based on a second location determining receiver exclusively associated with terrestrial beacons;
a selector for selecting the first location estimate of the vehicle as a preferential location in accordance with an initialization scheme for the vehicle in a work area; and
a filtering module for applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as the preferential location upon satisfactory completion of the initialization scheme.
17. The system according to claim 14 wherein the initialization scheme comprises a time period between start-up of a vehicle and moving the vehicle into a defined home position in a work area for execution of a task in the work area.
18. The system according to claim 14 wherein the initialization scheme comprises a time period between start-up of a vehicle and moving the vehicle into a defined home position in a work area for execution of a path plan in the work area.
19. The system according to claim 14 wherein the initialization scheme comprises a time period between start-up of a vehicle and verification that the second location determining receiver receives at least one of a pilot signal and an initialization transmission associated with the stationary beacons around the work area.
20. The system according to claim 14 wherein the filtering module is arranged to apply the first weight and the second weight to conform to a least squares estimation for the first location estimate and the second location estimate.
21. The system according to claim 20 wherein the least squares estimation is consistent with a generally linear relationship of the first location estimate and the second location estimate over time.
a focused acquisition manager associated with at least one of the first location determining receiver and the second location determining receiver for limiting a tracking loop of location measurement data;
23. A system for accurately determining a location of a vehicle, the system comprising:
a filtering module for applying a first weight to a first location and a second weight to the second location to derive a weighted estimate as a preferential location of the vehicle;
a transition manager for providing a soft transition from the first location estimate as a dominant estimate in the weighted estimate and the second location estimate as the dominant estimate in the weighted estimate by limiting a rate of change in the first weight and the second weight in accordance with the first target probability density function and the second probability density function.
24. The system according to claim 23 wherein the filtering module establishes the first weight based on a first variance of the first location estimate such that the first weight varies inversely to the first variance; the filtering module establishing the second weight based on a second variance of the second location estimate such that the second weight varies inversely with the second variance.
A first terrestrial beacon 10, a second terrestrial beacon 12, and a third terrestrial beacon 14 (or their associated antennas) are positioned at known, fixed locations. For example, the known fixed locations may be around or near a perimeter of a work area. The terrestrial beacons transmit a transmission signal (e.g., an identifiable pulse) that may be received by the second location-determining receiver 18.
If the line equation is y=m×+b, where m is the estimated slope to be optimized and b is the estimated y axis intercept (of the line) to be optimized, where the x axis and y axis are perpendicular to each other, then the least squares estimates for the parameter values are m = ∑ i = 1 n ( x i - x _ ) ( y i - y _ ) ∑ i = 1 n ( x i - x _ ) 2 and b = y _ - m x _ ,
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Classificatie in de VS 342/357.31, 342/464, 701/472
Internationale classificatie G01S3/02, G01S19/48, G01S5/14
Coöperatieve classificatie G01S19/48, G01S1/06
Europese classificatie G01S1/06, G01S19/48
30 juni 2005 AS Assignment
20 juli 2012 FPAY Fee payment
20 juli 2016 FPAY Fee payment