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1. WO2020109471 - METHOD AND APPARATUS FOR DETERMINING A POSITION OF A VEHICLE

Publication Number WO/2020/109471
Publication Date 04.06.2020
International Application No. PCT/EP2019/082918
International Filing Date 28.11.2019
IPC
G01C 21/16 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
G01C 21/30 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
B61L 25/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
61RAILWAYS
LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
25Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
02Indicating or recording positions or identities of vehicles or vehicle trains
CPC
B61L 25/02
BPERFORMING OPERATIONS; TRANSPORTING
61RAILWAYS
LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
25Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
02Indicating or recording positions or identities of vehicles or vehicle trains
B61L 25/025
BPERFORMING OPERATIONS; TRANSPORTING
61RAILWAYS
LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
25Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
02Indicating or recording positions or identities of vehicles or vehicle trains
025Absolute localisation, e.g. providing geodetic coordinates
B61L 25/026
BPERFORMING OPERATIONS; TRANSPORTING
61RAILWAYS
LGUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
25Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
02Indicating or recording positions or identities of vehicles or vehicle trains
026Relative localisation, e.g. using odometer
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G01C 21/165
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
165combined with non-inertial navigation instruments
G01C 21/30
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
Applicants
  • THALES HOLDINGS UK PLC [GB]/[GB]
Inventors
  • BATCHELOR, Andrew
  • WATSON, Douglas
Agents
  • MARKS & CLERK LLP
Priority Data
1819620.430.11.2018GB
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD AND APPARATUS FOR DETERMINING A POSITION OF A VEHICLE
(FR) PROCÉDÉ ET APPAREIL POUR DÉTERMINER UNE POSITION D'UN VÉHICULE
Abstract
(EN)
There is provided a computer-implemented method of determining a position of a vehicle 10 within a transport network. The method comprises obtaining track geometry data indicating track geometry of at least a part of the transport network; receiving first sensor data from an inertial measurement unit 26 mounted to the vehicle 10; executing a Bayesian estimation filter algorithm 34 to predict a position of the vehicle, wherein the Bayesian estimation filter algorithm comprises a process model, the process model comprising a strapdown inertial navigation algorithm 47, and wherein the strapdown inertial navigation algorithm 47 generates data indicative of the predicted position of the vehicle based at least upon the first sensor data and the track geometry data such that the predicted position of the vehicle lies on a track defined by the track geometry data; receiving second sensor data from a sensor 25, 27 other than an inertial measurement unit 26, wherein the sensor is mounted to the vehicle; executing the Bayesian estimation filter algorithm 34 to update the predicted position of the vehicle based at least upon the second sensor data; and generating an output indicative of a position of the vehicle within the transport network based upon at least one of the predicted position of the vehicle and the updated predicted position of the vehicle.
(FR)
L'invention concerne un procédé mis en oeuvre par ordinateur pour déterminer une position d'un véhicule 10 dans un réseau de transport. Le procédé consiste à obtenir des données de géométrie de voies indiquant la géométrie de voies d'au moins une partie du réseau de transport; à recevoir des données d'un premier capteur provenant d'une unité de mesure inertielle 26 montée sur le véhicule 10; à exécuter un algorithme de filtre d'estimation bayésien 34 pour prédire une position du véhicule, l'algorithme de filtre d'estimation bayésien comprenant un modèle de processus, le modèle de processus comprenant un algorithme de navigation inertielle à composants liés 47, et l'algorithme de navigation inertielle à composants liés 47 générant des données indicatives de la position prédite du véhicule sur la base au moins des données du premier capteur et des données de géométrie de voie de telle sorte que la position prédite du véhicule se trouve sur une voie définie par les données de géométrie de voie; à recevoir des données d'un second capteur provenant d'un capteur 25, 27 autre que l'une unité de mesure inertielle 26, le capteur étant monté sur le véhicule; à exécuter l'algorithme de filtre d'estimation bayésien pour mettre à jour la position prédite du véhicule sur la base au moins des données du second capteur; et à générer une sortie indiquant une position du véhicule à l'intérieur du réseau de transport sur la base de la position prédite du véhicule et de la position prédite mise à jour du véhicule.
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