Method and apparatus for precise relative positioning in multiple vehicles
AssigneeGM Global Technology Operations LLC
InventorShuqing Zeng
Life of this patent
Estimating the term…
Abstract
A system and method for determining the position and velocity of a plurality of vehicles relative to a host vehicle using GPS data. The method includes building a graph of the vehicles that define weighted baselines between each of the vehicles and the host vehicle and each of the vehicles where the weighted baselines define a geometric dilution of precision between the vehicles. The method then determines the optimal baseline between the host vehicle and each of the other vehicles using the weighted baselines based on the lowest geometric dilution of precision. The method then computes the relative position and velocity between all of the vehicles and the host vehicle using the optimal baselines.
Claims20
A method for determining the relative position and velocity between a host vehicle and a plurality of other vehicles, said method comprising:
- receiving GPS information concerning the position of the other vehicles by the host vehicle;
- building a weighted graph of the vehicles that define weighted baselines between each of the vehicles and the host vehicle and each of the other vehicles, where the weighted baselines define a geometric dilution of precision between the vehicles;
- determining an optimal baseline between the host vehicle and each of the other vehicles using the weighted baseline, where the optimal baseline is a lowest geometric dilution of precision;
- and
- computing the relative position and velocity between all of the vehicles and the host vehicle using the optimal baselines.
A method for determining the relative position and velocity between a host vehicle and a plurality of other vehicles, said method comprising:
- receiving GPS information concerning the position of the other vehicles by the host vehicle including satellite ephemeris, code range, carrier phase and Doppler frequency shift observation information;
- building a weighted graph of the vehicles that define weighted baselines between each of the vehicles and the host vehicle and each of the other vehicles, where the weighted baselines define a geometric dilution of precision between the vehicles, wherein determining the geometric dilution of precision depends on the number of shared satellites and a constellation of common satellites for the baseline;
- determining an optimal baseline between the host vehicle and each of the other vehicles using the weighted baselines, where the optimal baseline is the lowest geometric dilution of precision;
- and
- computing the relative position and velocity between all of the vehicles and the host vehicle using the optimal baselines.
A system for determining the relative position and velocity between the host vehicle and a plurality of other vehicles, said system comprising:
- means for receiving GPS information concerning the position of the vehicles by the host vehicle;
- means for building a weighted graph of the vehicles that defines weighted baselines between each of the vehicles and the host vehicle and each of the other vehicles, where the weighted baselines define a geometric dilution of precision between the vehicles, wherein the geometric dilution of precision depends on the number of shared satellites and a constellation of common satellites for the baseline;
- means for determining an optimal baseline between the host vehicle and each of the other vehicles using the weighted baselines, where the optimal baseline is the lowest geometric dilution of precision;
- and
- means for computing the relative position and velocity between all of the vehicles and the host vehicle using the optimal baseline.
Dependencies are inferred from the claim text.