Integrated dead reckoning and gnss/ins positioning
OwnerJohn A. McClure, Aaron C. Stichterinventors
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Abstract
An integrated dead reckoning (DR) and GNSS/INS control system and method are provided for guiding, navigating and controlling vehicles and equipment. A controller generally prioritizes GNSS navigation when satellite signals are available. Upon signal interruption, DR guidance can be integrated with INS to continue autosteering and other automated functions. Exemplary applications include logistics operations where ships, cranes and stacked containers can block satellite signals.
Claims20
A method of storing, positioning and retrieving containers in a containerized cargo handling facility, which method includes the steps of:
- providing the vehicle with a GNSS receiver;
- providing the vehicle with a processor connected to the GNSS receiver;
- providing the vehicle with a dead reckoning subsystem connected to the processor;
- providing the dead reckoning subsystem with a dead reckoning sensor connected to the vehicle and the processor;
- providing GNSS positioning signal inputs from said receiver to said processor;
- providing dead reckoning signals corresponding to movement of said vehicle from said dead reckoning sensor to said processor;
- integrating in said processor GNSS positioning signals and dead reckoning signals;
- and
- guiding said vehicle utilizing said integrated signals.
A method of storing, positioning and retrieving containers in a containerized cargo handling facility with stacks of containers accessible via aisles formed between said container stacks, which method includes the steps of:
- providing a vehicle chosen from among the group comprising:
- forklift;
- gantry crane;
- and
- truck configured for transporting cargo containers;
- providing said vehicle with a GNSS subsystem including a GNSS receiver;
- providing the vehicle with a processor connected to the GNSS receiver;
- providing the vehicle with a dead reckoning subsystem including a wheel sensor connected to a vehicle wheel;
- connecting the dead reckoning subsystem to the processor;
- providing an inertial navigation system (INS) connected to the processor;
- providing the dead reckoning subsystem with a dead reckoning sensor connected to the vehicle and the processor;
- providing GNSS positioning signal inputs from said receiver to said processor;
- providing dead reckoning signals corresponding to movement of said vehicle to said processor;
- integrating in said processor GNSS positioning signals and dead reckoning signals;
- and
- guiding said vehicle utilizing said integrated signals.
An integrated dead reckoning and GNSS method of positioning a vehicle, which method comprises the steps
- providing the vehicle with a GNSS receiver;
- providing the vehicle with a processor connected to the GNSS receiver;
- providing the vehicle with a dead reckoning subsystem;
- providing the dead reckoning subsystem with a dead reckoning sensor connected to the vehicle and the processor;
- providing GNSS positioning signal inputs from said receiver to said processor;
- providing dead reckoning signals corresponding to movement of said vehicle to said processor;
- integrating in said processor GNSS positioning signals and dead reckoning signals;
- and
- guiding said vehicle utilizing said integrated signals.
A system for storing, positioning and retrieving containers in a containerized cargo handling facility, which system includes:
- a GNSS receiver;
- a processor connected to the GNSS receiver;
- a dead reckoning subsystem connected to the processor;
- the dead reckoning subsystem including a dead reckoning sensor connected to the vehicle and the processor;
- GNSS positioning signal inputs from said receiver to said processor;
- dead reckoning signals corresponding to movement of said vehicle from said dead reckoning sensor to said processor;
- said processor being configured to integrate GNSS positioning signals and dead reckoning signals;
- and
- said processor being configured to guide to said vehicle utilizing said integrated signals.
Dependencies are inferred from the claim text.