Methods, systems, computer-readable media, and apparatuses for vehicle navigation are provided. Some configurations include calculating a first pose of the vehicle with respect to a reference frame at a first epoch; calculating, based on measurement data from an inertial navigation system (INS) of the vehicle, a pose of the INS of a second epoch after the first epoch; calculating a second attitude of the vehicle in a second epoch based on the calculated attitude of the INS and the calculated first attitude of the vehicle; applying a constraint to the calculated second attitude of the vehicle to produce an updated second attitude of the vehicle; and calculating an updated attitude of the INS based on the updated second attitude of the vehicle. Applications related to use of road vehicles, such as automobiles, are described.
提供了用于车辆导航的方法、系统、计算机可读介质和装置。一些配置包括计算在第一历元车辆关于参考框架的第一姿态;基于来自车辆的惯性导航系统(INS)的测量数据,计算在第一历元之后的第二历元INS的姿态;基于所计算的INS的姿态和所计算的车辆的第一姿态,计算在第二历元车辆的第二姿态;将约束施加到所计算的车辆的第二姿态以产生车辆的更新的第二姿态;以及,基于车辆的更新的第二姿态来计算INS的更新姿态。描述了与道路车辆(例如汽车)使用相关的应用。
Extending dead reckoning accuracy
扩展航位推算精度
2023-05-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |