Title:
【発明の名称】統合されたビークル位置特定及び航法システム、装置及び方法
Document Type and Number:
Japanese Patent JP3336005
Kind Code:
B2
Abstract:
Systems and methods for positioning and navigating an autonomous vehicle (102,310) allow the vehicle (102,310) to travel between locations. A first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170,200-206) are not in view of the vehicle (102,310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102,310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908,910).
Inventors:
Kirzos Christs Tea
Gudat Adam Jay
Christensen Dana Ay
Freedrick Douglas W
Stafford Darrell Y
Sennot James W
Gudat Adam Jay
Christensen Dana Ay
Freedrick Douglas W
Stafford Darrell Y
Sennot James W
Application Number:
JP50234991A
Publication Date:
October 21, 2002
Filing Date:
December 10, 1990
Export Citation:
Assignee:
CATERPILLAR INCORPORATED
International Classes:
G01C21/00; B60K31/00; B60K31/04; B62D1/00; G01C21/16; G01C21/28; G01S1/00; G01S5/00; G01S7/481; G01S7/497; G01S19/11; G01S19/41; G01S19/46; G01S19/47; G01S19/49; G05D1/00; G05D1/02; G08G1/0968; G08G1/123; G08G1/127; G09B29/10; G11B5/105; G11B5/127; G01S17/42; G01S17/86; G01S17/931; G01S19/27; G01S19/52; (IPC1-7): G05D1/02
Domestic Patent References:
| JP6365512A | ||||
| JP62298717A | ||||
| JP63108285A | ||||
| JP6170615A |
Other References:
【文献】曽根悟(外5名),慣性を考慮した物体の滑らかな曲線追跡,電気学会論文誌 C,95巻1号,論文番号50-C1
Attorney, Agent or Firm:
Minoru Nakamura (6 outside)