Integrated vehicle positioning and navigation system,...

Details Integrated vehicle positioning and navigation system,... Integrated vehicle positioning and navigation system,...

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G01C 21/00 (2006.01) B60K 31/00 (2006.01) B60K 31/04 (2006.01) G01C 21/16 (2006.01) G01S 1/00 (2006.01) G01S 5/14 (2006.01) G01S 17/93 (2006.01) G05D 1/02 (2006.01) G08G 1/0968 (2006.01) G08G 1/127 (2006.01) G01S 5/00 (2006.01)

Patent

CA 2071831

2071831 9109275 PCTABS00005 Systems and methods for positioning and navigating an autonomous vehicle (102, 310) allow the vehicle (102, 310) to travel between locations. A first position estimate (112) of the vehicle (102, 310) is derived from satellites (132-170, 200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170, 200-206) are not in view of the vehicle (102, 310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102, 310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908, 910).

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