WO2007143806A3 - Vehicular navigation and positioning system - Google Patents

Vehicular navigation and positioning system Download PDF

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Publication number
WO2007143806A3
WO2007143806A3 PCT/CA2006/001000 CA2006001000W WO2007143806A3 WO 2007143806 A3 WO2007143806 A3 WO 2007143806A3 CA 2006001000 W CA2006001000 W CA 2006001000W WO 2007143806 A3 WO2007143806 A3 WO 2007143806A3
Authority
WO
WIPO (PCT)
Prior art keywords
positioning system
vehicular navigation
vehicular
navigation
attitude
Prior art date
Application number
PCT/CA2006/001000
Other languages
French (fr)
Other versions
WO2007143806A2 (en
Inventor
Jianchen Gao
Elizabeth Cannon
Mark Petovello
Kiyomi Nagamiya
Iwao Maeda
Kazunori Kagawa
Original Assignee
Uti Limited Partnership
Toyota Motor Co Ltd
Jianchen Gao
Elizabeth Cannon
Mark Petovello
Kiyomi Nagamiya
Iwao Maeda
Kazunori Kagawa
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
Application filed by Uti Limited Partnership, Toyota Motor Co Ltd, Jianchen Gao, Elizabeth Cannon, Mark Petovello, Kiyomi Nagamiya, Iwao Maeda, Kazunori Kagawa filed Critical Uti Limited Partnership
Priority to CA002649990A priority Critical patent/CA2649990A1/en
Priority to US12/304,934 priority patent/US20100019963A1/en
Priority to PCT/CA2006/001000 priority patent/WO2007143806A2/en
Publication of WO2007143806A2 publication Critical patent/WO2007143806A2/en
Publication of WO2007143806A3 publication Critical patent/WO2007143806A3/en

Links

Classifications

    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0013—Optimal controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0033—Single-track, 2D vehicle model, i.e. two-wheel bicycle model
    • 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

Abstract

A vehicular navigation and positioning method and system includes a GNSS receiver, an inertial navigation system and on-board vehicular sensors. Available data is integrated by a Kalman filter and vehicle position, velocity and attitude is updated as a result.
PCT/CA2006/001000 2006-06-15 2006-06-15 Vehicular navigation and positioning system WO2007143806A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA002649990A CA2649990A1 (en) 2006-06-15 2006-06-15 Vehicular navigation and positioning system
US12/304,934 US20100019963A1 (en) 2006-06-15 2006-06-15 Vehicular navigation and positioning system
PCT/CA2006/001000 WO2007143806A2 (en) 2006-06-15 2006-06-15 Vehicular navigation and positioning system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CA2006/001000 WO2007143806A2 (en) 2006-06-15 2006-06-15 Vehicular navigation and positioning system

Publications (2)

Publication Number Publication Date
WO2007143806A2 WO2007143806A2 (en) 2007-12-21
WO2007143806A3 true WO2007143806A3 (en) 2008-03-27

Family

ID=38832133

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2006/001000 WO2007143806A2 (en) 2006-06-15 2006-06-15 Vehicular navigation and positioning system

Country Status (3)

Country Link
US (1) US20100019963A1 (en)
CA (1) CA2649990A1 (en)
WO (1) WO2007143806A2 (en)

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Also Published As

Publication number Publication date
CA2649990A1 (en) 2007-12-21
US20100019963A1 (en) 2010-01-28
WO2007143806A2 (en) 2007-12-21

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