CA2733032C - Procede et appareil concu pour ameliorer la navigation d'une plate- forme mobile - Google Patents
Procede et appareil concu pour ameliorer la navigation d'une plate- forme mobile Download PDFInfo
- Publication number
- CA2733032C CA2733032C CA2733032A CA2733032A CA2733032C CA 2733032 C CA2733032 C CA 2733032C CA 2733032 A CA2733032 A CA 2733032A CA 2733032 A CA2733032 A CA 2733032A CA 2733032 C CA2733032 C CA 2733032C
- Authority
- CA
- Canada
- Prior art keywords
- module
- navigation
- gps
- navigation module
- information
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 109
- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 239000000203 mixture Substances 0.000 claims description 154
- 230000010354 integration Effects 0.000 claims description 140
- 238000005259 measurement Methods 0.000 claims description 129
- 238000004422 calculation algorithm Methods 0.000 claims description 17
- 238000001914 filtration Methods 0.000 claims description 16
- 239000002245 particle Substances 0.000 claims description 16
- 230000001965 increasing effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 239000000243 solution Substances 0.000 description 208
- 101150118300 cos gene Proteins 0.000 description 98
- 230000002829 reductive effect Effects 0.000 description 87
- 230000008901 benefit Effects 0.000 description 49
- 238000012360 testing method Methods 0.000 description 35
- 230000006872 improvement Effects 0.000 description 31
- 238000004364 calculation method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 18
- 239000012088 reference solution Substances 0.000 description 18
- 230000001133 acceleration Effects 0.000 description 15
- 230000015556 catabolic process Effects 0.000 description 13
- 238000006731 degradation reaction Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 12
- 238000005070 sampling Methods 0.000 description 12
- 230000003190 augmentative effect Effects 0.000 description 11
- 239000011159 matrix material Substances 0.000 description 11
- 238000001514 detection method Methods 0.000 description 10
- 230000009977 dual effect Effects 0.000 description 9
- 238000009499 grossing Methods 0.000 description 9
- 230000009466 transformation Effects 0.000 description 9
- 238000012937 correction Methods 0.000 description 8
- 238000012805 post-processing Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000000295 complement effect Effects 0.000 description 6
- 241001442234 Cosa Species 0.000 description 5
- 244000089409 Erythrina poeppigiana Species 0.000 description 5
- 235000009776 Rathbunia alamosensis Nutrition 0.000 description 5
- 238000013459 approach Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 238000013507 mapping Methods 0.000 description 5
- 230000036961 partial effect Effects 0.000 description 5
- 230000002860 competitive effect Effects 0.000 description 4
- 238000009795 derivation Methods 0.000 description 4
- 230000000644 propagated effect Effects 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 3
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- NCGICGYLBXGBGN-UHFFFAOYSA-N 3-morpholin-4-yl-1-oxa-3-azonia-2-azanidacyclopent-3-en-5-imine;hydrochloride Chemical group Cl.[N-]1OC(=N)C=[N+]1N1CCOCC1 NCGICGYLBXGBGN-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 238000005311 autocorrelation function Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000010348 incorporation Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241000005672 Baia Species 0.000 description 1
- 101100314150 Caenorhabditis elegans tank-1 gene Proteins 0.000 description 1
- 208000034564 Coronary ostial stenosis or atresia Diseases 0.000 description 1
- 101000637625 Cricetulus griseus GTP-binding protein SAR1b Proteins 0.000 description 1
- 101100234408 Danio rerio kif7 gene Proteins 0.000 description 1
- 101100221620 Drosophila melanogaster cos gene Proteins 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 241000879779 Leopardus guigna Species 0.000 description 1
- 238000012952 Resampling Methods 0.000 description 1
- 101100398237 Xenopus tropicalis kif11 gene Proteins 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- PASHVRUKOFIRIK-UHFFFAOYSA-L calcium sulfate dihydrate Chemical compound O.O.[Ca+2].[O-]S([O-])(=O)=O PASHVRUKOFIRIK-UHFFFAOYSA-L 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010790 dilution Methods 0.000 description 1
- 239000012895 dilution Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000001303 quality assessment method Methods 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012956 testing procedure Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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
- 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
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Un module et un procédé de navigation permettent dapporter une solution de navigation INS/GNSS pour une plateforme mobile, lesquels comprennent un récepteur pour recevoir des renseignements de navigation absolus dune source externe (p. ex., un satellite), des moyens pour obtenir des renseignements sur la vitesse ou vélocité et un ensemble de capteurs autonomes qui peuvent obtenir des lectures (p. ex., des renseignements de navigation relatifs ou non de référence) sur la plateforme mobile, et comprenant en outre au moins un processeur, couplé pour recevoir les renseignements de sortie du récepteur, un ensemble de capteurs et un moyen dobtenir des renseignements sur la vitesse ou la vélocité, et fonctionnel pour intégrer les renseignements de sortie pour produire une solution de navigation. Le au moins un processeur peut fonctionner pour donner une solution de navigation en utilisant les renseignements sur la vitesse ou la vélocité pour découpler le mouvement actuel de la plateforme à partir des lectures de lensemble de capteurs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2733032A CA2733032C (fr) | 2011-02-28 | 2011-02-28 | Procede et appareil concu pour ameliorer la navigation d'une plate- forme mobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2733032A CA2733032C (fr) | 2011-02-28 | 2011-02-28 | Procede et appareil concu pour ameliorer la navigation d'une plate- forme mobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2733032A1 CA2733032A1 (fr) | 2012-08-28 |
| CA2733032C true CA2733032C (fr) | 2015-12-29 |
Family
ID=46752229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2733032A Active CA2733032C (fr) | 2011-02-28 | 2011-02-28 | Procede et appareil concu pour ameliorer la navigation d'une plate- forme mobile |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2733032C (fr) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180180420A1 (en) * | 2014-08-01 | 2018-06-28 | Michael Korenberg | Method and System for Improving Inertial Measurement Unit Sensor Signals |
| CN111966130B (zh) * | 2020-06-28 | 2023-06-27 | 上海伊涵家居饰品有限公司 | 座椅自动归位控制方法、系统及其存储介质 |
| CN112327004B (zh) * | 2020-10-20 | 2022-11-18 | 北京嘀嘀无限科技发展有限公司 | 车辆加速度确定方法、装置、存储介质和电子设备 |
| CN112379341B (zh) * | 2020-11-02 | 2023-06-20 | 西安电子工程研究所 | 一种雷达接收机的数字化建模方法 |
| CN112526562B (zh) * | 2020-11-26 | 2022-05-06 | 中国电子科技集团公司第五十四研究所 | 一种基于l1/b1双频的pso粒子群测距定位方法 |
| US11859978B2 (en) | 2021-01-15 | 2024-01-02 | ALMA Technologies Ltd. | System and method for estimating a velocity of a vehicle using inertial sensors |
| US20220228866A1 (en) | 2021-01-15 | 2022-07-21 | ALMA Technologies Ltd. | System and method for providing localization using inertial sensors |
| US12196558B2 (en) * | 2021-02-13 | 2025-01-14 | The Regents Of The University Of Michigan | Sensor package for infrastructure data collection |
| CN113325691B (zh) * | 2021-04-29 | 2022-07-12 | 西安交通大学 | 一种无人车双闭环纵向控制方法、系统及设备 |
| CZ2022221A3 (cs) * | 2022-05-27 | 2023-12-06 | AŽD Praha s.r.o. | Postup určování intervalového odhadu velikosti rychlosti železničního vozidla pomocí GNSS a subsystém k realizaci tohoto postupu. |
| CN118700140B (zh) * | 2024-07-05 | 2024-12-24 | 中山大学附属第七医院(深圳) | 一种机械臂光路跟踪控制方法、装置、设备及存储介质 |
-
2011
- 2011-02-28 CA CA2733032A patent/CA2733032C/fr active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CA2733032A1 (fr) | 2012-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9488480B2 (en) | Method and apparatus for improved navigation of a moving platform | |
| CA2733032C (fr) | Procede et appareil concu pour ameliorer la navigation d'une plate- forme mobile | |
| US9784582B2 (en) | Method and apparatus for navigation with nonlinear models | |
| CA2802445C (fr) | Correcteur de portee d'ins de plateforme mobile (mpirc) | |
| US6167347A (en) | Vehicle positioning method and system thereof | |
| US7409290B2 (en) | Positioning and navigation method and system thereof | |
| US6697736B2 (en) | Positioning and navigation method and system thereof | |
| Georgy et al. | Vehicle navigator using a mixture particle filter for inertial sensors/odometer/map data/GPS integration | |
| EP3047304B1 (fr) | Procédé et appareil pour la détermination d'un désalignement entre un dispositif et une cuve au moyen d'une accélération/décélération | |
| WO2023009463A1 (fr) | Système et procédé pour le calcul de niveaux de protection de positionnement | |
| US20110238308A1 (en) | Pedal navigation using leo signals and body-mounted sensors | |
| EP2193336B1 (fr) | Système et procédé de positionnement | |
| CN113631883A (zh) | 车辆定位装置 | |
| Hide et al. | GPS and low cost INS integration for positioning in the urban environment | |
| Afia et al. | A low-cost gnss/imu/visual monoslam/wss integration based on federated kalman filtering for navigation in urban environments | |
| JP5994237B2 (ja) | 測位装置及びプログラム | |
| US10274317B2 (en) | Method and apparatus for determination of misalignment between device and vessel using radius of rotation | |
| Abuhadrous et al. | Multi-sensor data fusion for land vehicle localization using/sup RT/MAPS | |
| Moafipoor et al. | Tightly coupled GPS/INS/CCD integration based on GPS carrier phase velocity update | |
| RU2539131C1 (ru) | Бесплатформенная интегрированная навигационная система средней точности для мобильного наземного объекта | |
| Ding | Optimal integration of GPS with inertial sensors: modelling and implementation | |
| Li et al. | Kalman filter design strategies for code tracking loop in ultra-tight GPS/INS/PL integration | |
| Hide et al. | Investigating the integration of a foot-mounted IMU and GNSS antenna | |
| Vana | Continuous urban navigation with next-generation, mass market navigation sensors and adaptive filtering | |
| Martí et al. | Navigation capabilities of mid-cost GNSS/INS vs. smartphone: Analysis and comparison in urban navigation scenarios |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |