Patent
Position and heading error-correction method and apparatus for vehicle navigation systems
TLDR
In this paper, a Kalman filter is used to generate a calibration curve for the rate of heading sensor bias drift with temperature change, and the bias drift rate calibration curve is then used to estimate a vehicle bias periodically while the vehicle is moving.Abstract:
The present invention solves the problems of the prior art by providing methods for compensating for temperature-dependent drift of bias in a vehicle heading sensor of a dead reckoning vehicle positioning system. Specifically, the invention uses a Kalman filter to generate a calibration curve for the rate of heading sensor bias drift with temperature change. The Kalman filter calculates coefficients for a model of heading sensor bias drift rate versus temperature at each point where the vehicle is stationary. The bias drift rate calibration curve is then used to estimate a heading sensor bias periodically while the vehicle is moving. The invention further provides a method for using an aging time for temperature sensor bias drift rate to force convergence of the error variance matrix of the Kalman filter. The invention further provides vehicle navigational systems that utilize the methods of the present invention.read more
Citations
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References
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Patent
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