Method for determining the position and orientation of a vehicle
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorChristophe VILLIEN
Life of this patent
Estimating the term…
Abstract
Constructing an estimated orientation of the vehicle from a previous position and a previous orientation of the vehicle, then correcting this estimated orientation to obtain a first corrected orientation containing a corrected yaw angle of the vehicle, obtaining a measurement of the yaw angle of the vehicle, then replacing, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, then delivering the corrected second orientation by way of orientation determined for the vehicle and using, in the next execution of the constructing step, the corrected second orientation by way of previous orientation.
Claims12
A method for determining the position and orientation of a vehicle using a locating system attached to the vehicle, said locating system comprising a satellite geopositioning unit, an inertial navigation unit, a sub-module for integrating inertial measurements and a correcting sub-module, said method comprising the following steps:
- a) measuring, with the satellite geopositioning unit, the position of the vehicle or the position and speed of the vehicle,
- b) measuring, with the inertial navigation unit, the acceleration and angular velocity of the vehicle,
- c) constructing, with the sub-module for integrating inertial measurements, an estimated position and orientation of the vehicle from a previous position and a previous orientation of the vehicle and using the measurements of acceleration and angular velocity taken since said previous position and said previous orientation of the vehicle, then
- d) correcting, with the correcting sub-module and using the measurements of the geopositioning unit, the estimated position and orientation to obtain a first corrected position and a first corrected orientation, the first corrected orientation notably containing a corrected yaw angle of the vehicle,
- wherein the method comprises:
- e) obtaining, with the locating system, a measurement of the yaw angle of the vehicle that is independent of the angular-speed measurements taken by the inertial navigation unit, then
- f) replacing, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, then
- g) delivering, to an output of the locating system, the first corrected position and the second corrected orientation by way of position and orientation determined for the vehicle, respectively, and using, on the next execution of step c), the first corrected position and the second corrected orientation by way of previous position and previous orientation, respectively.
A locating system, able to be attached to a vehicle, for determining the position and orientation of said vehicle, said locating system comprising:
- a satellite geopositioning unit able to measure the position of the vehicle or the position and speed of the vehicle,
- an inertial navigation unit containing an accelerometer and a gyrometer for measuring the acceleration and the angular velocity of the vehicle,
- a sub-module for integrating inertial measurements, configured to construct an estimated position and orientation of the vehicle from a previous position and a previous orientation of the vehicle and using the measurements of acceleration and angular velocity taken since said previous position and said previous orientation of the vehicle, then
- a correcting sub-module configured to correct, using the measurements of the geopositioning unit, the estimated position and orientation so as to obtain a first corrected position and a first corrected orientation, the first corrected orientation notably containing a corrected yaw angle of the vehicle,
- wherein:
- the system comprises a substituting sub-module configured to:
- obtain a measurement of the yaw angle of the vehicle that is independent of the angular-velocity measurements taken by the gyrometer of the inertial navigation unit, then
- replace, in the first corrected orientation, the corrected yaw angle with the measured yaw angle, to obtain a second corrected orientation, then
- deliver, to an output of the locating system, the first corrected position and the second corrected orientation by way of position and orientation determined for the vehicle, respectively, and
- the integrating sub-module is also configured to use, in the next construction of an estimated position and orientation of the vehicle, the first corrected position and the second corrected orientation by way of previous position and previous orientation, respectively.
Dependencies are inferred from the claim text.