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WO2005119290A1 - Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule - Google Patents

Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule Download PDF

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Publication number
WO2005119290A1
WO2005119290A1 PCT/US2004/015678 US2004015678W WO2005119290A1 WO 2005119290 A1 WO2005119290 A1 WO 2005119290A1 US 2004015678 W US2004015678 W US 2004015678W WO 2005119290 A1 WO2005119290 A1 WO 2005119290A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
heading
roll
gnss
sensor system
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.)
Ceased
Application number
PCT/US2004/015678
Other languages
English (en)
Inventor
Walter Feller
Michael L. Whitehead
John A. Mc Clure
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CSI Wireless Inc
Original Assignee
CSI Wireless Inc
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 CSI Wireless Inc filed Critical CSI Wireless Inc
Priority to PCT/US2004/015678 priority Critical patent/WO2005119290A1/fr
Publication of WO2005119290A1 publication Critical patent/WO2005119290A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Definitions

  • the invention relates generally to automatic guidance systems and more specifically to global positioning system based sensor for vehicle steering control.
  • Movable machinery such as agricultural equipment, open-pit mining machines and airplane crop dusters and the like all benefit from accurate global positioning system (GPS) high precision survey products, and others.
  • GPS global positioning system
  • SATPS satellite positioning systems
  • the guidance system collects positions of the vehicle as it moves across the field. When the vehicle commences the next pass through the field, the guidance system offsets the collected positions for the previous pass by the width of the equipment complement (i.e. swath width). The next set of swath positions are used to provide guidance to the operator as he drives vehicle through the field.
  • the current vehicle location as compared to the desired swath location is provided to the operator.
  • the SATPS provides the 3-D location of signal reception (for instance, the 3-D location of the antenna). If only 3-D coordinates are collected, the next swath computations assume a flat terrain offset.
  • the position of interest is often not the same as where the satellite receiver (SR) is located since the SR is placed in the location for good signal reception.
  • SR satellite receiver
  • the best location for the SR may be on top of the tractor cab will experience large attitude excursions as the tractor swaths the field, but the position of interest (POI) for providing guidance to the tractor operator may be the position on the ground below the operator. If the tractor is on a flat terrain, determining this POI is a simple adjustment to account for the antenna height.
  • the swath offset thus becomes a vector talcing the terrain inclination into account with the assumption that from the first swath to the next one the terrain inclination does not change too much. It can therefore be seen that there is a need for a better navigation/guidance system for use with a ground-based vehicle.
  • Existing GPS position computations include may include lag times, which may be especially troublesome when, for example, GPS velocity is used to derive vehicle heading.
  • lag times may be especially troublesome when, for example, GPS velocity is used to derive vehicle heading.
  • the position (or heading) solution provided by a GPS receiver tells a user where the vehicle was a moment ago, not in real time.
  • Existing GPS systems do not provide high quality heading information at slower vehicle speeds. Therefore, what is needed is a low cost sensor system to facilitate vehicle swath navigation.
  • a sensor system for vehicle steering control comprising: a plurality of global navigation satellite sensor systems (GNSS) including receivers and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase corrected real time kinematic (RTK) position differences.
  • GNSS global navigation satellite sensor systems
  • RTK real time kinematic
  • the roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle.
  • the system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system.
  • Also disclosed herein in another exemplary embodiment is a method for computing a position of a vehicle comprising: initializing a global navigation satellite sensor systems (GNSS); computing a first position of a first GNSS antenna on the vehicle; computing a second position of a second GNSS antenna; and calculating a heading as a vector perpendicular to a vector joining the first position and the second position, in a horizontal plane aligned with the vehicle.
  • GNSS global navigation satellite sensor systems
  • the method also includes computing a roll angle of the vehicle as an arc-tangent of a ratio of differences in heights of the first GNSS antenna and the second GNSS antenna divided by a spacing between their respective phase centers and calculating an actual position at the center of the vehicle projected to the ground using the computed roll angle and a known height from the ground of at least one of the first GNSS antenna and the second GNSS antenna.
  • a method of controlling a vehicle comprising: computing a position and a heading for the vehicle; computing a steering control command; based on a proportionality factor multiplied by a difference in a desired position versus an actual position, plus a second proportionality factor multiplied by a difference in a desired heading versus an actual heading, the second proportionality factor ensuring that when the vehicle attains the desired position the vehicle is also directed to the desired heading, and thereby avoiding crossing a desired track.
  • the method also includes a recursive adaptive algorithm employed to characterize the vehicle response and selected dynamic characteristics.
  • the method further includes applying selected control values to a vehicle steering control mechanism and measuring responses of the vehicle thereto; calculating response times and characteristics for the vehicle based on the responses; and calibrating the control commands by applying a modified control command based on the responses to achieve a desired response.
  • FIGURE 1 depicts an illustrative diagram of a vehicle including an exemplary embodiment
  • FIGURE 2 depicts an illustrative block diagram of vehicle including an exemplary embodiment of a sensor system
  • FIGURE 3 depicts an illustrative block diagram of a sensor system in accordance with an exemplary embodiment
  • FIGURE 4 depicts an illustrative sensor system in accordance with an exemplary embodiment
  • FIGURE 5 depicts an illustrative flow chart of an exemplary process for determining a steering command for a vehicle in accordance with an exemplary embodiment
  • FIGURE 6 depicts an illustrative flow chart of an exemplary process for determining a steering command with an exemplary sensor system in accordance with an alternative embodiment.
  • a sensor system for vehicle guidance utilizes a plurality of GPS carrier phase differenced antennas to derive attitude information.
  • the GPS position may optionally be combined with one or more rate gyro(s) used to measure turn rates.
  • the rate gyros and GPS receiver/antenna are integrated together within the same unit, to provide multiple mechanisms to characterize a vehicles motion and position to make a robust vehicle steering control mechanism.
  • a position may readily be determined to within millimeters.
  • an angular rotation may be computed using the position differences.
  • two antennas placed in the horizontal plane may be employed to compute a heading (rotation about a vertical axis) from a position displacement.
  • an exemplary embodiment may be utilized to compute not only heading, but either roll (rotation about a longitudinal axis) or pitch (rotation about a lateral axis) depending on orientation of the antennas relative to the vehicle.
  • Heading information combined with position, either differentially corrected (DGPS) or carrier phase corrected (RTK) provides the feedback information desired for a proper control of the vehicle direction.
  • DGPS differentially corrected
  • RTK carrier phase corrected
  • Addition of one or more rate gyros further provides independent measurements of the vehicles dynamics and facilitates vehicle steering control.
  • Another benefit is that achieved by incorporating a GPS-based heading sensor is the elimination or reduction of drift and biases resultant from a gyro-only or other inertial sensor approach. Yet another advantage is that heading may be computed while vehicle is stopped or moving slowly, which is not possible in single-antenna GPS based approach that requires a vehicle velocity vector to derive heading. Yet another advantage of an exemplary embodiment is that combination of the aforementioned sensors provides sufficient information for a feedback control system to be developed, which is standalone and independent of a vehicle's sensors or additional external sensors. Thus, such a system is readily maintained as vehicle-independent and may be moved from one vehicle to another with minimal effort.
  • GNSS sensors include, but are not limited to GPS, Global Navigation System (GLONAS), Wide Area Augmentation System (WAAS) and the like, as well as combinations including at least one of the foregoing.
  • GLONAS Global Navigation System
  • WAAS Wide Area Augmentation System
  • An example of a GNSS is the Global Positioning System (GPS) established by the United States government that employs a constellation of 24 or more satellites in well-defined orbits at an altitude of approximately 26,500 km. These satellites continually transmit microwave L-band radio signals in two frequency bands, centered at 1575.42 MHz and 1227.6 MHz., denoted as LI and L2 respectively.
  • GPS Global Positioning System
  • GPS receivers process the radio signals, computing ranges to the GPS satellites, and by triangulating these ranges, the GPS receiver determines its position and its internal clock error.
  • DGPS differential GPS
  • FIG. 1 an illustrative vehicle 10 is depicted including a sensor system 20 in accordance with an exemplary embodiment.
  • FIG. 2 and 3 blocks diagram of the sensor system 20 is depicted.
  • the sensor system 20 includes, but is not limited to a plurality of GNSS receiver and antenna systems 22, each comprising at least a GNSS receiver 24 and antenna 26.
  • the GNSS receiver/antennal systems 22 co-operate as a primary receiver system 22a and a secondary receiver system 22b, with their respective antennas 24a and 24b mounted with a known separation.
  • the primary receiver 22a system may also be denoted as a reference or master receiver system, while the secondary receiver system 22b may also be denoted as a remote or slave receiver system. It will also be appreciated that the selection of one receiver as primary versus secondary need not be of significance, it merely provides a means for distinguishing between systems, partitioning of functionality, and defining measurements references to facilitate description. It should be appreciated that the nomenclature could readily be transposed or modified without impacting the scope of the disclosure or the claims.
  • the sensor system 20 is optionally, configured to mounted within a single enclosure 28 to facilitate transportability.
  • the enclosure 28 can be any rigid assembly, fixture, or structure that causes the antennas 26 to be maintained a substantially fixed relative position with respect to one another.
  • the enclosure 28 may be a lightweight bracket or structure to facilitate mounting of other components and transportability.
  • the enclosure 28 that constrains the relative location of the two antennas 26a and 26b may have virtually an position and orientation in space, the two respective receivers 24 (reference receiver
  • remote receiver 24a and remote receiver 24b are configured to facilitate communication with one another and resolve the attitude information from the phase center of the reference antenna 26a to the phase center of the remote antenna 26b with a high degree of accuracy.
  • Yet another embodiment employs a GNSS sensor 20 in the embodiments above augmented with supplementary inertial sensors 30 such as accelerometers, gyroscopes, or an attitude heading reference system. More particularly, in an implementation of an exemplary embodiment, one or more rate gyro(s) is integrated with the GNSS sensor 20.
  • a supplementary dynamic sensor 30 shall be referred to as a yaw rate gyro 30 without limitation.
  • a gyro that measures roll-rate may also be combined with this system's GPS-based roll determination.
  • a roll rate gyro denoted 30b would provide improved short-term dynamic rate information to gain additional improvements when computing the sway of the vehicle 10, particularly when traveling over uneven terrain.
  • each GNSS receiver 30 may be coupled with data from supplementary sensors 50, including, but not limited to, accelerometers, gyroscopic sensors, compass', magnetic sensors, inclinometers, and the like, as well as combinations including at least one of the foregoing.
  • Coupling GNSS data with measurement information from supplementary sensors 30, and/or correction data for differential correction improves positioning accuracy, improves initialization durations and enhances the ability to recover for data outages.
  • such coupling may further improve e.g., reduce, the length of time required to solve for an accurate attitude data.
  • the location of the reference antenna 26a can be considered a fixed distance from the remote antenna 26b.
  • This constraint may be applied to the azimuth determination processes in order to reduce the time required to solve for accurate azimuth, even though both antennas 26a and 26b may be moving in space or not at a known location.
  • the technique of resolving the attitude information and position information for the vehicle 10 may employ carrier phase DGPS techniques with a moving reference station.
  • the use of data from auxiliary dynamic sensors aids the development of a heading solution by applying other constraints, including a rough indication of antenna orientation relative to the Earth's gravity field and or alignment to the Earth's magnetic field.
  • a mechanism for ensuring an accurate orientation of the sensor system 20 to the vehicle 10 may be provided for by an optional mounting base 14 accurately attached to the enclosure 28.
  • An accurate installation ensures that substantially no misalignment error is present that may otherwise cause the sensor system 20 to provide enoneous heading information.
  • the mounting base 14 is configured such that it fits securely with a determinable orientation relative to the vehicle 10.
  • the mounting base 14 is configured to fit flatly against the top surfaces of the vehicle 10 to facilitate an unimpeded view to the
  • initialization may include, but not be limited to using the control system 100 to perform any initialization or configuration that may be necessary for a particular installation, including the configuration of an internal log file within the memory of the sensor system 20.
  • the sensor 20 may further include additional associated electronics and hardware.
  • the sensor 20 may also include a power source 32 e.g., battery, other power generation means, e.g., photovoltaic cells and the like.
  • the sensor system 20 may further include a control system 100.
  • the control system 100 may include but not be limited to a controller/computer 102, display 104 and input device 106 such as a keypad or keyboard for operation.
  • the controller 102 may include, without limitation, a computer or processor, logic, memory, storage, registers, timing, interrupts, input/output signal interfaces, and communication interfaces as required to perform the processing and operations prescribed herein.
  • the controller preferably receives inputs from various systems and sensors elements of sensor system 20 (GNSS, inertial, etc.), and generates output signals to control the same and direct the vehicle 10.
  • the controller 102 may receive such inputs as the GNSS satellite and receiver data and status, inertial system data, and the like from various sensors.
  • the control system 100 provides the user with information relating to the current orientation, attitude, and velocity of the vehicle 10 as well as computing a desired swath on the ground.
  • the control system 100 will also allow the operator to configure the various settings of the sensor system 20 and monitor GNSS signal reception and any other sensors of the sensor system 20.
  • the sensor system 20 is self-contained.
  • the control system 100, electronics, receivers 24, antennas 26, and any other sensors, including a power source are contained within the enclosure 12, to facilitate ease of manipulation, transportability, and operation.
  • FIG. 5 a flowchart diagrammatically depicting an exemplary methodology for executing a control process 200 is provided.
  • a control process 200 such as may be executed by an operator in conjunction with a control system 100, a set of commands are incorporated into the sensor system 20 to output corrected 3-D position, velocity, heading, tilt, curvature (degrees per second) and radius of curvature and the like.
  • the primary receiver and antenna system 22a computes its position, denoted pl(xl, yl, zl).
  • the secondary receiver and antenna system 22b computes its position, denoted p2(x2, y2, z2).
  • additional receiver and antenna system(s) 22 computed their respective positions, denoted p3(x3, y3, z3) - pn(xn, yn, zn). wherein the secondary receiver and antenna system 22b computes its position, denoted p2(x2, y2, z2).
  • the heading is computed as the vector perpendicular to the vector joining the two positions, in the horizontal plane (assuming they are aligned with the vehicle).
  • the roll of the vehicle 10 may readily be computed as the arc-tangent of the ratio of the difference in heights of the two antennas 26a and 26b divided by the spacing between their phase centers (a selected distance within the enclosure 12). It will be appreciated that optionally, if additional receiver and antenna systems are utilized, and configured for additional measurements, the pitch and roll angles may also be computed using differential positioning similar to the manner for computing heading. Therefore in the figure, optionally at process block 260 the pitch and roll may be computed.
  • the actual position at the center of the vehicle 10 projected to the ground may be calculated. This position representing a true ground position of the vehicle 10. Once the ground position is known, the error value representing the difference between where the vehicle should be based on a computed swath or track and where it actually is, is readily calculated as shown at block 280.
  • the vector velocities of the vehicle 10 are also known or readily computed based on existing course and heading of the vehicle 10. These vector velocities may readily be utilized for control and instrumentation tasks.
  • a steering control process 300 may then be created to utilize the abovementioned information from the sensor system 20 to direct the vehicle motion.
  • the steering control may be initiated by obtaining the computed errors from process 200.
  • the steering control process 300 may be facilitated by computing a steering control command based on a proportionality factor times the difference in desired position versus actual position (computed position error) plus second proportionality factor times difference in desired heading versus actual heading (heading error).
  • the second proportionality factor ensures when the vehicle attains the desired position it is actually directed to the correct heading, rather than crossing the track. Such an approach will dramatically improve steering response and stability.
  • a steering command is generated and directed to the vehicle 330.
  • a recursive adaptive algorithm may also be employed to characterize the vehicle response and selected dynamic characteristics.
  • the sensor system 20 applies selected control values to the vehicle steering control mechanism as depicted at optional block 340 and block 330.
  • the sensor system 20 measures the response of the vehicle 10 as depicted at process block 350 and calculates the response times and characteristics for the vehicle. For example, a selected command is applied and the proportionality of the turn measured given the selected change in steering.
  • the responses of the vehicle are then utilized to calibrate the control commands applying a modified control command to achieve a desired response. It will be appreciated that such an auto-calibration feature would possibly be limited by constraints of the vehicle to avoid excess stress or damage as depicted at 370.
  • the process 200 includes installation and power up or initialization. It should be evident that power-up and initialization could potentially be performed and executed in advance without impacting the methodology disclosed herein or the scope of the claims.
  • partitioning functionality has been provided. It should be apparent to one skilled in the art, that the partition could be different.
  • control of the primary receiver 40a and secondary receiver 40b, as well as the functions of the controller 72 could be integrated in any, or another unit.
  • the processes for determining the alignment may, for ease of implementation, be integrated into a single receiver. Such configuration variances should be considered equivalent and within the scope of the disclosure and claims herein.
  • the disclosed invention may be embodied in the form of computer- implemented processes and apparatuses for practicing those processes.
  • the present invention can also be embodied in the form of computer program code containing instructions embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other computer-readable storage medium 80, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention.
  • the present invention can also be embodied in the form of computer program code, for example, whether stored in a storage medium, loaded into and/or executed by a computer, or as data signal 82 transmitted whether a modulated carrier wave or not, over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention.
  • the computer program code segments configure the microprocessor to create specific logic circuits.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un système détecteur conçu pour la commande de guidage d'un véhicule, qui comprend plusieurs systèmes de détection globaux de navigation par satellite (GNSS) comportant des récepteurs et des antennes à espacement fixe pour déterminer la position d'un véhicule, sa vitesse et au moins un angle de cap, un angle de tangage et un angle de roulis sur la base des différences de position cinématiques en temps réel (RTK) corrigées par phase de porteuse. L'angle de roulis facilite la correction des erreurs de position induites par le mouvement latéral résultant du mouvement des antennes à mesure que le véhicule se déplace sur la base d'un décalage par rapport au sol et de l'angle de roulis. Le système comporte également un système de commande destiné à recevoir la position du véhicule, son cap et au moins l'un du tangage et du roulis ; il est également destiné à générer un ordre de guidage destiné au système de guidage d'un véhicule.
PCT/US2004/015678 2004-05-17 2004-05-17 Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule Ceased WO2005119290A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/US2004/015678 WO2005119290A1 (fr) 2004-05-17 2004-05-17 Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule

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PCT/US2004/015678 WO2005119290A1 (fr) 2004-05-17 2004-05-17 Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule

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Cited By (16)

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GB2440644A (en) * 2006-07-26 2008-02-06 Denso Corp Method and apparatus for estimating the direction of a vehicle using signals from two GPS antenna.
EP2116121A1 (fr) * 2008-04-16 2009-11-11 CNH Belgium N.V. Création de largeurs de travail incluant une compensation de pente pour un système de guidage automatique d'un véhicule de travail
US8059030B2 (en) 2003-12-16 2011-11-15 Garmin Switzerland Gmbh Method and system for using a database and GPS position data to generate bearing data
CN102436260A (zh) * 2011-09-01 2012-05-02 北京航空航天大学 一种室内自主定位与定向的二维导航系统
WO2012110542A1 (fr) * 2011-02-18 2012-08-23 Cnh Belgium N.V. Système et procédé de guidage latéral automatique d'un véhicule agricole
WO2012143238A2 (fr) 2011-04-19 2012-10-26 Meissner Marita Commande de la dynamique de mouvement d'un véhicule comprenant les systèmes gnss et ins
CN103389734A (zh) * 2013-08-12 2013-11-13 贵州大学 一种智能巡逻监控小车
CN103425130A (zh) * 2013-08-02 2013-12-04 南京信息工程大学 一种自动循迹避障的仓储运输方法
CN103760903A (zh) * 2014-01-20 2014-04-30 昆山鑫盛盟创科技有限公司 智能仓库寻迹运输管理系统
US8914196B1 (en) 2013-11-01 2014-12-16 Automotive Technologies International, Inc. Crash sensor systems utilizing vehicular inertial properties
WO2016047166A1 (fr) * 2014-09-24 2016-03-31 日立建機株式会社 Véhicule de transport
US9528834B2 (en) 2013-11-01 2016-12-27 Intelligent Technologies International, Inc. Mapping techniques using probe vehicles
CN106353782A (zh) * 2015-07-16 2017-01-25 深圳市华信天线技术有限公司 地面点坐标测量方法及装置
WO2019096666A1 (fr) * 2017-11-16 2019-05-23 Robert Bosch Gmbh Dispositif et procédé de détermination d'une position et/ou d'un déplacement d'un véhicule correspondant
CN116299614A (zh) * 2023-02-09 2023-06-23 广州英卓电子科技有限公司 一种用单天线gnss进行车辆定位定向的方法及装置
US20240353566A1 (en) * 2023-04-20 2024-10-24 Valeo Comfort And Driving Assistance Determination of the altitude of a moving vehicle

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