# US 11,994,601 B2 · Method for estimating the attitude of a vehicle

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- Number: US 11,994,601 B2
- Document ID: US11994601B2
- Status: Granted
- Kind: B2
- Application number: 17/295,626
- Filed: 2018-12-12
- Published: 2022-01-06
- Granted: 2024-05-28
- Earliest claimed: 2018-12-12
- Assignees: Volvo Truck Corporation
- Applicants: Volvo Truck Corporation
- Inventors: Edvin Valtersson
- Web page: https://patentgrep.com/patent/US11994601B2

## CPC

- G01S 19/54: using carrier phase measurements; using long or short baseline interferometry
- 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

## Abstract

A method for estimating the attitude of a vehicle by using a global navigation satellite system having a plurality of satellites, wherein the vehicle comprises at least a first antenna and a second antenna having a separation to each other, comprising the steps of: detecting an outage of said global navigation satellite system; starting a dead-reckoning algorithm in order to extrapolate a change in attitude during the outage of said global navigation satellite system obtaining a dead-reckoned attitude; detecting that said global navigation satellite system has recovered, in particular via the availability of carrier phase observables and calculating a new attitude using the recovered global navigation satellite system by incorporating the obtained dead-reckoned attitude as a starting condition.

## Claims

### Claim 1

A method for estimating an attitude of a vehicle by using a global navigation satellite system having a plurality of satellites, wherein the vehicle comprises at least a first antenna and a second antenna having a separation to each other, comprising:
detecting an outage of said global navigation satellite system;
starting a dead-reckoning procedure to extrapolate a change in attitude during the outage of said global navigation satellite system obtaining a dead-reckoned attitude;
detecting that said global navigation satellite system has recovered via the availability of carrier phase observables;
calculating the attitude using the recovered global navigation satellite system by incorporating the obtained dead-reckoned attitude as a starting condition.

### Claim 2 (depends on 1)

A method according to claim 1, wherein
the outage of said global navigation satellite system is detected via carrier-phase-measurements.

### Claim 3 (depends on 1)

A method according to claim 1, wherein
the dead-reckoned attitude is only provided by internal aiding.

### Claim 4 (depends on 1)

A method according to claim 1, wherein
the outage of said global navigation satellite system is less than 10 minutes.

### Claim 5 (depends on 1)

A method according to claim 1, wherein
the change in attitude is based on said dead-reckoning algorithm and a previous known attitude.

### Claim 6 (depends on 5)

A method according to claim 5, wherein
the known attitude was validated before said outage of the global navigation satellite system.

### Claim 7 (depends on 1)

A method according to claim 1, further comprising the step of:
using said new attitude as a starting condition in a lambda-method.

### Claim 8 (depends on 7)

A method according to claim 7, wherein
said lambda-method comprises the usage of at least one Kalman filter and said new attitude is used as a starting condition for said at least one Kalman filter.

### Claim 9 (depends on 1)

A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 when said program code is run on a computer.

### Claim 10 (depends on 1)

An estimation unit for estimating the movement of a vehicle, the estimation unit configured to perform the steps of the method according to claim 1.

### Claim 11 (depends on 1)

A vehicle according to claim 1, further comprising at least a first antenna and a second antenna for communicating with a global navigation satellite system, in particular to provide raw satellite observables.

### Claim 12 (depends on 1)

A vehicle according to claim 1, further comprising at least:
one movement speed estimation unit having at least one movement speed and/or movement direction sensor and/or
two global navigation satellite system receivers for tracking carrier phases.