Title:
INTEGRATED VEHICLE POSITIONING AND NAVIGATION SYSTEM, APPARATUS AND METHOD
Document Type and Number:
WIPO Patent Application WO1991009275
Kind Code:
A3
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:
KYRTSOS CHRISTOS T (US)
GUDAT ADAM J (US)
CHRISTENSEN DANA A (US)
FRIEDRICH DOUGLAS W (US)
STAFFORD DARRELL E (US)
SENNOTT JAMES W (US)
BRADBURY WALTER J (US)
CLOW RICHARD G (US)
DEVIER LONNIE J (US)
KEMNER CARL A (US)
KLEIMENHAGEN KARL W (US)
KOEHRSEN CRAIG L (US)
LAY NORMAN K (US)
PETERSON JOEL L (US)
RAO PRITHVI N (US)
SCHMIDT LARRY E (US)
SHAFFER GARY K (US)
GUDAT ADAM J (US)
CHRISTENSEN DANA A (US)
FRIEDRICH DOUGLAS W (US)
STAFFORD DARRELL E (US)
SENNOTT JAMES W (US)
BRADBURY WALTER J (US)
CLOW RICHARD G (US)
DEVIER LONNIE J (US)
KEMNER CARL A (US)
KLEIMENHAGEN KARL W (US)
KOEHRSEN CRAIG L (US)
LAY NORMAN K (US)
PETERSON JOEL L (US)
RAO PRITHVI N (US)
SCHMIDT LARRY E (US)
SHAFFER GARY K (US)
Application Number:
PCT/US1990/007183
Publication Date:
March 05, 1992
Filing Date:
December 10, 1990
Export Citation:
Assignee:
CATERPILLAR INC (US)
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): G01C21/00
Domestic Patent References:
| WO1987007056A1 | 1987-11-19 |
Foreign References:
| EP0181012A1 | 1986-05-14 | |||
| DE3310111A1 | 1984-09-27 | |||
| US3630079A | 1971-12-28 | |||
| US4876659A | 1989-10-24 | |||
| US4599620A | 1986-07-08 | |||
| EP0309293A2 | 1989-03-29 | |||
| FR2554612A1 | 1985-05-10 | |||
| US4786164A | 1988-11-22 | |||
| US4809178A | 1989-02-28 | |||
| DE3538908A1 | 1987-05-21 | |||
| DE3912353A1 | 1989-11-09 | |||
| US4849731A | 1989-07-18 | |||
| US4709197A | 1987-11-24 |
Other References:
IEEE Plans '86 Position Location and Navigation Symposium, 4-7 November 1986 (Las Vegas, US) S. Bose: "GPS/PLRS aided inertial land navigation system performance", pages 496-504, see the whole article
Wescon/87 Conference Record, volume 31, 1987, (Los Angeles, US) M.T. Allison et al.: "The next generation navigation system", pages 941-947
Proceedings of the IEEE, volume 77, no. 11, November 1989 (New York, US) L. Schuchman et al.: "Applicability of an augmented GPS for nagivation in the national airspace system", pages 1709-1727, see page 1710, right-hand column, line 26 - page 1711, right-hand column, line 30; figure 1; page 1713, left-hand column, line 10 - page 1717, left-hand column, line 7
IEEE Communication Magazine, volume 26, no. 7, July 1988 (New York, US) P. Enge et al.: "Differential operation of the global positioning system", pages 48-59, see page 57, left-hand column, lines 1-58, right-hand column, line 13
Patent Abstracts of Japan, volume 13, no. 306 (P-897) 13 July 189, & JP, A, 1079679 (TOYOTA) 24 March 1989, see the abstract
Patent Abstracts of Japan, volume 12, no. 290 (P-742) 9 August 1988, & JP, A, 63066479 (NISSAN) 25 March 1988
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, vol. 2, 24-29 April 1988, Philadelphia, US, IEEE Computer Soc. Press (Wsshington, DC, US) L.E. Banta: "A self tuning navigation algorithm", pages 1313-1314, see the whole article
IEEE Journal of Robotics and Automation, volume 4, no. 3, June 1988, IEEE (New York, US) C. Isik et al.: "Pilot level of a hierarchical controller for an unmanned mobile robot", pages 241-255, see abstract; page 242, left-hand column, lines 4-44; page 243, right-hand column, line 35 - page 245, left-hand column, line 32; figures 3A,3B,5; table 1; page 246, right-hand column, last paragraph - page 249, left-hand column, paragraph C; table II
IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 10, no. 5, September 1988, IEEE (New York, US) D. Kuan et al.: "Autonomous robotic vehicle road following", pages 648-658, see page 649, right-hand column, line 4 - page 650, left-hand column, line 7; page 654, right-hand column, lines 24-39
Proceedings 1987 IEEE International Conference on Robotics and Automation, 31 March - 3 April 1987, (Raleigh, US) sponsored by IEEE Council on Robotics and Automation; volume 2, L. Conway et al.: "Tele-autonomous systems: methods and architectures for intermingling autonomous and telerobotic technology", pages 1121-1130, see page 1125, right-hand column, paragraph 3.5 - page 1126, right-hand column, pragraph 5
Proceeding PR '88, The Computer Society Conference on Computer Vision and Pattern Recognition, 5-9 June 1988 (Ann Arbor, US) S. Dickinson et al.: "An expert vision system for autonomous land vehicle road following", pages 826-831, see the whole document
IEEE Journal of Robotics and Automation, volume 4, no. 4, August 1988, IEEE (New York, US) J. Le Moigne: "Domain-dependent reasoning for visual navigation of roadways", pages 419-427, see the whole article
Proceedings 1987 IEEE International Conference on Robotics and Automation, 31 March - 3 April 1987, (Raleigh, US) sponsored by IEEE Council on Robotics and Automation, volume 3, D. DeMenthon: "A zero-bank algorithm for inverse perspective of a road from a single image", pages 1444-1449, see abstract; figure 7
Wescon/87 Conference Record, volume 31, 1987, (Los Angeles, US) M.T. Allison et al.: "The next generation navigation system", pages 941-947
Proceedings of the IEEE, volume 77, no. 11, November 1989 (New York, US) L. Schuchman et al.: "Applicability of an augmented GPS for nagivation in the national airspace system", pages 1709-1727, see page 1710, right-hand column, line 26 - page 1711, right-hand column, line 30; figure 1; page 1713, left-hand column, line 10 - page 1717, left-hand column, line 7
IEEE Communication Magazine, volume 26, no. 7, July 1988 (New York, US) P. Enge et al.: "Differential operation of the global positioning system", pages 48-59, see page 57, left-hand column, lines 1-58, right-hand column, line 13
Patent Abstracts of Japan, volume 13, no. 306 (P-897) 13 July 189, & JP, A, 1079679 (TOYOTA) 24 March 1989, see the abstract
Patent Abstracts of Japan, volume 12, no. 290 (P-742) 9 August 1988, & JP, A, 63066479 (NISSAN) 25 March 1988
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, vol. 2, 24-29 April 1988, Philadelphia, US, IEEE Computer Soc. Press (Wsshington, DC, US) L.E. Banta: "A self tuning navigation algorithm", pages 1313-1314, see the whole article
IEEE Journal of Robotics and Automation, volume 4, no. 3, June 1988, IEEE (New York, US) C. Isik et al.: "Pilot level of a hierarchical controller for an unmanned mobile robot", pages 241-255, see abstract; page 242, left-hand column, lines 4-44; page 243, right-hand column, line 35 - page 245, left-hand column, line 32; figures 3A,3B,5; table 1; page 246, right-hand column, last paragraph - page 249, left-hand column, paragraph C; table II
IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 10, no. 5, September 1988, IEEE (New York, US) D. Kuan et al.: "Autonomous robotic vehicle road following", pages 648-658, see page 649, right-hand column, line 4 - page 650, left-hand column, line 7; page 654, right-hand column, lines 24-39
Proceedings 1987 IEEE International Conference on Robotics and Automation, 31 March - 3 April 1987, (Raleigh, US) sponsored by IEEE Council on Robotics and Automation; volume 2, L. Conway et al.: "Tele-autonomous systems: methods and architectures for intermingling autonomous and telerobotic technology", pages 1121-1130, see page 1125, right-hand column, paragraph 3.5 - page 1126, right-hand column, pragraph 5
Proceeding PR '88, The Computer Society Conference on Computer Vision and Pattern Recognition, 5-9 June 1988 (Ann Arbor, US) S. Dickinson et al.: "An expert vision system for autonomous land vehicle road following", pages 826-831, see the whole document
IEEE Journal of Robotics and Automation, volume 4, no. 4, August 1988, IEEE (New York, US) J. Le Moigne: "Domain-dependent reasoning for visual navigation of roadways", pages 419-427, see the whole article
Proceedings 1987 IEEE International Conference on Robotics and Automation, 31 March - 3 April 1987, (Raleigh, US) sponsored by IEEE Council on Robotics and Automation, volume 3, D. DeMenthon: "A zero-bank algorithm for inverse perspective of a road from a single image", pages 1444-1449, see abstract; figure 7
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