WO1993005587A1 - Combined relative and absolute positioning method and apparatus - Google Patents
Combined relative and absolute positioning method and apparatus Download PDFInfo
- Publication number
- WO1993005587A1 WO1993005587A1 PCT/US1992/006442 US9206442W WO9305587A1 WO 1993005587 A1 WO1993005587 A1 WO 1993005587A1 US 9206442 W US9206442 W US 9206442W WO 9305587 A1 WO9305587 A1 WO 9305587A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rps
- vehicle
- current
- aps
- loran
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 48
- 238000010790 dilution Methods 0.000 claims description 20
- 239000012895 dilution Substances 0.000 claims description 20
- 230000008901 benefit Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 4
- 101000658124 Apomastus schlingeri Mu-cyrtautoxin-As1a Proteins 0.000 description 3
- 101100419062 Caenorhabditis elegans rps-2 gene Proteins 0.000 description 3
- 238000000528 statistical test Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002547 anomalous effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Definitions
- the present invention relates in general to land- based vehicular navigation apparatus and in particular to a method and apparatus comprising the combination of a relative positioning system (RPS), such as a vehicular dead reckoning navigation system with map-matching and an absolute positioning system (APS), such as a Loran-C system or a Global Positioning System (GPS), the latter systems being used to automatically reposition and recalibrate the RPS as required.
- RPS relative positioning system
- APS absolute positioning system
- GPS Global Positioning System
- RPS relative positioning system
- APS absolute positioning system
- Loran-C Loran-C system
- GPS Global Positioning System
- a conventional dead reckoning system with map matching such as disclosed in U.S. Patent 4,796,191, entitled Vehicle Navigational System and Method, and assigned to the assignee of the present application, has a number of advantages. It can operate in a fully self- contained way, requiring no equipment outside the vehicle in which it is used. It typically has high accuracy over significant intervals of time. It is linked to an electronic map of roads which can automatically eliminate minor vehicular position errors and measurement noise and provide a graphical user display. For example, as a vehicle using such a system moves, onboard wheel sensors, a magnetic compass and/or other sensing means computes the vehicle's position using dead reckoning techniques. The computed position is compared frequently with an electronically stored map of roads. If the computed position does not correspond to a location on the nearest appropriate road, the system automatically corrects the vehicle's position to place it on that nearest road.
- the above-described dead reckoning navigation apparatus has a number of disadvantages.
- One of the disadvantages is that sometimes navigation performance can degrade if the map matching relocates the vehicle's position to an incorrect road. This can occur because of an extreme anomalous magnetic field, wheel slippage or map errors.
- Another disadvantage arises if the difference between the computed vehicle position and the nearest appropriate road is too large, i.e. exceeds a predetermined allowable error estimate. Under these circumstances the dead reckoning system will not update its position. Once an incorrect update has been made or the errors become too large, precision navigation may not be automatically regained without manual intervention.
- dead reckoning navigation apparatus Another disadvantage of conventional dead reckoning navigation apparatus is that it typically requires that the operation of the system be visually monitored by the operator and manually calibrated and that, after calibration, correct initial position information be entered manually.
- Some absolute navigation systems such as those based on reception of Loran-C or GPS signals, have the advantage of providing high precision, at least some of the time, the ability to regain high precision position information after the loss of a signal, the ability to provide correct initial position information and the capability to be automatically calibrated.
- signal dropouts can leave a vehicle without any navigation information beyond the position computed before the dropout.
- measurement errors e.g. jitter, will be apparent.
- no link to a road network is available to provide path computations and advanced user interfaces.
- principal objects of the present invention are a method and apparatus comprising a relative positioning system (RPS), such as the above- described dead reckoning system with map matching and an absolute positioning system (APS), such as Loran-C or GPS, which are combined in a way to use their advantages while minimizing their disadvantages.
- RPS relative positioning system
- APS absolute positioning system
- RPS of the present invention provides information on the validity of the RPS position information, such as a "lost" flag indicator as well as an RPS contour of equal probability (CEP) which is a measure of the precision of the RPS. Both of these features are used to advantage in operating the combined RPS and APS of the present invention.
- the combined RPS and APS of the present invention is not fully self-contained, i.e. wholly onboard the vehicle, it can operate in a. self-contained mode and thereby eliminate the signal dropout disadvantage of a pure absolute positioning system while maintaining the high apparent accuracy of a map matching relative positioning system.
- the system of the present invention has the ability to automatically reposition the RPS and its CEP if map matching update errors occur or if large errors occur.
- the automatic calibration of the APS can be used to automatically calibrate the RPS and thereby increase its accuracy and to compute a correction that can eliminate APS offsets and thus eliminate the need for operator intervention.
- the present invention accomplishes the above advantages and others by using the absolute navigation apparatus to provide update information when the dead reckoning and map matching system determines that it has made an update error and/or is lost, e.g. generates a "lost" flag indicator, or the difference in position computed by the RPS and APS exceeds predetermined limits. Specifically, when the dead reckoning and map matching system is updating to the correct road the combined system will perform with the accuracy of map matching without the need for operator intervention.
- the AP portion of the system is continuously monitored to check for error conditions which the receiver can detect and for stability. This typically includes an evaluation of various statistical parameters.
- the APS's position information is considered valid if it passes certain checks.
- the difference between the APS's position and the RPS's position is monitored over time to calculate an average offset. This average offset is updated periodically as long as the RPS's position is judged to be valid. When the RPS's position is judged to be. invalid, e.g.
- a "lost" flag indicator is generated and the current APS's position information is judged to be valid, a new vehicle RPS position and RPS CEP is computed from the current APS's position and the calculated offset. If the RPS continues to provide invalid updates the above process is repeated. Eventually, the vehicle will leave the conditions, e.g. extreme magnetic anomaly, tire slippage, or the like, that caused the problem. During the time of the problem, the errors are bounded by the accuracy of the APS. Beyond the problem time, the APS updates enable the RPS to automatically regain map matching performance.
- a further advantage of the present invention is that it does not assign a weight to the current position information obtained from the RPS and the APS so as to compute a current position in between as is typically done in prior known navigation systems.
- the present invention either retains the current RPS position information and CEP or updates the current RPS position information and CEP to the current APS position information, including any offset, if the latter is deemed to be more accurate.
- Fig 1. is a block diagram of a navigation system according to the present invention.
- Fig. 2 is a diagram illustrating contours of equal probability (CEP) for an APS and an RPS;
- Fig. 3 is a flow diagram of a method of operating a navigation system comprising a relative positioning system (RPS) and an absolute positioning system (APS) according to the present invention
- RPS relative positioning system
- APS absolute positioning system
- Fig. 4 is a flow diagram of statistical tests of validity for a Loran-C navigation system according to the present invention.
- Fig. 5 is a table for computing a GPS CEP according to the present invention.
- Fig. 6 is a table for computing a GPS area of uncertainty according to the present invention.
- a navigation system designated generally as 1.
- the RPS 2 comprises a conventional dead-reckoning navigation system with map matching such as disclosed in U.S. Patent 4,796,191.
- the APS 3 comprises a conventional Loran-C or Global Positioning System (GPS) receiver.
- the APS receiver 3 is linked to ground-based transmitters or space-based satellite transmitters by means of an antenna 4.
- a register 5 for storing and reporting RPS computed positions of a vehicle, typically in terms of latitude and longitude
- a register 6 for storing RPS error estimate information (RPS CEP) associated with the RPS computed positions of a vehicle
- a register 7 for storing RPS validity information, such as a "lost" flag indicator when the RPS computes it is lost.
- a register 8 for storing and reporting APS computed positions of a vehicle, typically in terms of latitude and longitude
- a register 9 for storing an APS error estimate, sometimes identified as a dilution of position error estimate factor (DOP) associated with the APS computed positions of a vehicle
- a register 10 for storing APS validity information, such as an APS indicator indicating that the APS position information should or should not be relied on.
- the contents of the registers 5- 10 are processed in a microprocessor 11, or the like, for providing outputs to registers 5 and 6 for updating the current RPS computed position of a vehicle and RPS CEP data, as will be further described below.
- the RPS 2 and/or the APS 3 or parts thereof may be embodied within the microprocessor 11. That is, the microprocessor 11 can also be used to perform RPS and APS computations.
- the RPS computed position of a vehicle and the APS computed position of a vehicle each has associated therewith a contour of equal probability (CEP) and/or a dilution of precision of position error (DOP) .
- CEP contour of equal probability
- DOP dilution of precision of position error
- the DOP is a dimensionless factor, the magnitude of which depends on the arrangement of GPS transmitters used for obtaining a reported GPS position and its direction from the reported position. It is the factor by which a CEP, described below, associated with an ideal arrangement of APS signal transmitters is modified as a result of a less than ideal arrangement of said transmitters. For example, if the arrangement of transmitters used for obtaining a reported position is ideal, by definition, DOP may be set equal to 1 in all directions from the reported position. If, on the other hand, the arrangement of transmitters used for obtaining a reported position is less than ideal, the magnitude of DOP may be equal to 1.3 in one direction from the reported position and may be equal to 2.0 in a direction 90 degrees therefrom.
- the contour of equal probability is a contour chosen so that the probability associated with the area inside the contour is some fixed fraction, e.g. 95%, of the probability distribution.
- the CEP may be chosen to be an ellipse, a rectangle, a parallelogram, or some other shape.
- the CEP associated with current position information from an RPS and an APS is a measure of the reliability, stability and precision of the RPS and the
- APS Referring to Fig. 2, there is shown a pair of box- shaped areas defined by the lines Ei and E2, a dot E3 and an arrowhead E4.
- the box-shaped area Ei represents the CEP or contour of equal probability of a vehicle's position as determined by the APS.
- the box-shaped area E2 represents the CEP or contour of equal probability of the position of a vehicle as computed by the RPS.
- the dot E3 and arrowhead E4 represent the APS and RPS reported postions of a vehicle, respectively.
- the vehicle's RPS computed position may be relocated to correspond to the position given by the APS and any associated offset and its RPS CEP set to equal the CEP of the APS or some fraction or multiple thereof, as will be further described below.
- a flow diagram of a method of operating the navigation system of Fig. 1 according to the present invention there is provided a relative positioning system (RPS) and an absolute position system (APS) .
- RPS relative positioning system
- APS absolute position system
- the RPS position information includes the current RPS computed position of a vehicle, an indication of whether or not said current RPS position information is valid, e.g. an RPS "lost" flag indicator when said RPS computes it is lost, and an RPS position error estimate (RPS CEP) .
- the APS includes a means for providing current APS position information.
- the APS position information includes the current APS computed position of a vehicle, an indication of whether or not said current APS position information is valid and a dilution of precision of position error factor (DOP) .
- DOP position error factor
- CEP contours of equal probability
- current RPS position information and current APS position information is acquired from the RPS and APS (Blocks 20,21).
- the current RPS position information includes the current computed RPS position of a vehicle, an RPS validity indicator, for example, a "lost" flag indicator, when said RPS computes it is lost, and an RPS position error estimate (RPS CEP) .
- the APS position information includes the current computed APS position of a vehicle, an indication of whether or not said current APS position information is valid and a dilution of precision of position error factor (DOP) .
- DOP position error factor
- the system waits for a predetermined interval of time, e.g. two seconds, (Block 23) then acquires the then current or new RPS and APS position information (Block 20,21). If the then current APS position information is valid, the system computes an APS error estimate (APS CEP) which is equal to a function fl of APS validity and APS DOP (Block 24). At this time APS and RPS areas j and W2 which are centered about the reported APS. and RPS positions of the vehicle, respectively, are also computed (Blocks 25,26). The magnitude of the APS area Wi is equal to a function Wi of APS validity, APS CEP, and RPS validity.
- the magnitude of the RPS area W2 is equal to a function 2 of RPS validity, RPS CEP and APS validity. It may be noted that, depending on the magnitude and/or nature of the factors on which they depend, either the APS area ⁇ or the RPS area W2 may comprise an area of zero extent, i.e. be a single point, namely, the APS or RPS reported position of the vehicle. In this case, the question, "do the areas overlap?" (Block 27) means, "is the APS (or RPS) point (position of the vehicle) contained within the RPS (or APS) area?"
- the system 1 sets the current RPS computed position of the vehicle to correspond to the current APS computed position of a vehicle and sets the RPS CEP equal to a function f2 of APS validity, APS DOP and RPS validity (Block 28), waits for said predetermined interval of time (Block 23) and then acquires the then current RPS and APS position information (Blocks 20,21).
- Block 22 of Fig. 3 the validity of the APS position information is checked and it may be noted that a number of statistical tests can be used to validate the APS input. The choice of which tests to apply will in general depend on the characteristics of the APS receiver, e.g. a Loran-C, a Global Positioning System (GPS) and the like.
- GPS Global Positioning System
- FIG. 4 there is provided a flow diagram which illustrates a possible selection of statistical tests for an APS such as a Loran receiver.
- Block 31 checks that the reported DOP is less than a value that is a function of the data collected from the receiver, such as signal to noise ratio.
- the value may be a constant.
- this constant may be 1000 feet. It may also be a dimensionless number.
- Block 32 checks that the displacement between the current reported position and past reported positions is bounded by a value that is a function of data collected from both the APS and RPS systems.
- This value may be a simple constant that is the maximum displacement between consecutive values of the APS system. For example, it may be 3000 feet.
- the bound could also be placed on the displacement between the current position and the average position of a number of past samples of the APS system. The bound could also take into account the velocity of the vehicle since the last sample and calculate a bound that represents the maximum displacement plus variability that could be expected in the APS position.
- Block 33 checks that the variance (or standard deviation) of the offsets between the APS and RPS positions over a certain number of recent samples is bounded by a value that is a function of the data collected from the APS and RPS systems. For example, this bound could be 500 feet on standard deviation over the most recent 16 samples.
- Block 34 checks that current offset between the APS position and the RPS position is reasonable given a certain number of recent samples.
- the current sample should conform to the expected probability distribution of offset samples. For example, if the probability distribution is assumed to be normal about a mean or average value m with standard deviation s, then one could require that the current offset value fall within a three- standard-deviation range of the mean; that is, that abs(o-m) ⁇ 3*s where abs is the absolute value function and o is the current offset.
- the value s could be based, a priori, on the probability distribution or it could be computed from the recent sample data. In the latter case, s would change dynamically as the current data changed. Other probability models could be used, depending on what is known about the receiver. In any case, the current offset is validated against the recent data for consistent and expected behavior. Block 35 checks that the current offset between the
- APS and RPS systems is bounded by a value that is a function of the data collected from the APS and RPS systems.
- An unreasonably large value for the offset could indicate a failure of the APS receiver to provide accurate position data.
- the bound that is placed on the offset may depend on many factors, such as signal to noise ratios, DOP, etc. In its simplest form the bound could be a constant, for example 1 mile.
- the current position information is considered valid if at least three satellites were available to acquire the information.
- RPS validity e.g. the validity of a dead reckoning navigation system with map matching.
- the validity of the RPS is generally a function of whether or not the RPS computes it is lost, i.e. generates a "lost" flag indicator.
- the "lost" flag indicator is typically generated if, while attempting several times to reposition a vehicle to a road, the dead reckoning system is unable to locate an appropriate road which passes through its CEP or area W2•
- an appropriate road would be one that extends substantially parallel to the vehicle's direction of travel and is near to the vehicle's computed position. Under these conditions, a "lost" flag indicator typically will be generated.
- RPS "lost" flag indicator depends on whether the navigation system comprises a Loran-C or a GPS.
- Loran-C signal transmission is subject to geographical terrain and other factors which frequently render the position information obtained therefrom unreliable. Accordingly, in the absence of a "lost" flag indicator from the RPS, a system of the present invention comprising a Loran-C will ignore the Loran-C position information and not relocate the RPS. This is done by setting the size of the Loran-C area W- ⁇ (Block 25) to infinity, thus insuring that the RPS area W2 will always overlap the APS area i (Block 27).
- the computed Loran-C CEP (Block 24) is typically the product of a constant, e.g. 100 feet, and the Loran-C DOP.
- a constant e.g. 100 feet
- some Loran-C receivers report DOP in units of distance, e.g. feet or meters. This means that such receivers are already reporting an error estimate CEP rather than true DOP. In such cases, the computing of the Loran-C CEP (Block 24) would be adjusted accordingly.
- past offsets in the Loran-C position information are used to update the RPS computed position of a vehicle.
- three sets of the most recent Loran-C offsets are stored. Typically, each set comprises a predetermined number of previous Loran-C offsets, e.g. 30.
- the average offset in the third previous set of Loran-C offsets is used to relocate the RPS computed position of the vehicle.
- the reason the third previous set of Loran-C offsetes is used is because it is believed that it comprises more accurate position information than the most recent Loran-C position information.
- the function f2 is typically made equal to the function f ⁇ in Block 24 so that after relocating the vehicle, the Loran-C CEP and the RPS CEP are the same.
- the setting of the GPS CEP and the GPS area Wi is considerably more complex than in the less precise Loran-C systems.
- a table for computing a GPS CEP (Block 24) as a function of the number of satellites available in acquiring the GPS position of the vehicle.
- the function f ⁇ is infinity. If the number of satellites is equal to three, the function f- ⁇ is equal to the product of a first predetermined number, e.g. 60 meters, and GPS DOP. If the number of satellites available is greater than three, the GPS CEP is equal to the product of a second predetermined number, e.g. 30 meters, and GPS DOP. This means that when the number of available satellites exceeds three, the GPS area Wi can be reduced because of the increased precision and reliability of the GPS position information.
- Fig. 6 there is shown a table illustrating the function W-j_ of GPS validity, GPS CEP and RPS validity.
- the GPS area Wi is infinite when the RPS is lost and when the RPS is not lost.
- the GPS area W*L is infinite when the RPS is not lost and is equal to the GPS CEP as determined from the table in Fig. 5 when the RPS is lost.
- the GPS area i is equal to the GPS CEP as determined from the table in Fig. 5 when the RPS is lost and is twice the GPS CEP when the RPS is not lost. While specific figures have been given for computing the GPS CEP and the GPS area W ⁇ , it should be understood that the magnitudes of f ⁇ _ and Wi can and should be changed from the magnitudes described, depending on the relative precision and reliability of the GPS and RPS systems being used.
- the RPS area W2 comprises an area of zero extent, that is, the function W2 is set to a point, i.e. the RPS position of the vehicle.
- the function f2 is typically made equal to the function W of Block 25.
- the magnitude or size of the APS CEP, the APS area W * L, the RPS area W2 and the setting of the RPS CEP after a relocation of the RPS position all depend variously on APS validity, APS CEP/DOP, RPS validity and RPS CEP. Each of these factors can be changed depending on the APS and RPS systems employed and on the level of performance desired. Accordingly, it is intended that the embodiment described be considered only as illustrative of the present invention and that the scope thereof should not be limited thereto but be determined by reference to the claims hereinafter provided.
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69231061T DE69231061T2 (en) | 1991-08-30 | 1992-07-31 | METHOD AND DEVICE FOR RELATIVELY AND ABSOLUTELY DETERMINING THE POSITION |
EP92918607A EP0601037B1 (en) | 1991-08-30 | 1992-07-31 | Combined relative and absolute positioning method and apparatus |
CA002116242A CA2116242C (en) | 1991-08-30 | 1992-07-31 | Combined relative and absolute positioning method and apparatus |
AT92918607T ATE193126T1 (en) | 1991-08-30 | 1992-07-31 | METHOD AND DEVICE FOR RELATIVE AND ABSOLUTE DETERMINATION OF THE POSITION |
MD96-0292A MD960292A (en) | 1991-08-30 | 1992-07-31 | Combined relative and absolute positioning method and device for realization thereof |
AU24926/92A AU653257B2 (en) | 1991-08-30 | 1992-07-31 | Combined relative and absolute positioning method and apparatus |
HK98116157A HK1014812A1 (en) | 1991-08-30 | 1998-12-28 | Combined relative and absolute positioning method and apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/753,190 US5311195A (en) | 1991-08-30 | 1991-08-30 | Combined relative and absolute positioning method and apparatus |
US753,190 | 1991-08-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1993005587A1 true WO1993005587A1 (en) | 1993-03-18 |
Family
ID=25029559
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1992/006442 WO1993005587A1 (en) | 1991-08-30 | 1992-07-31 | Combined relative and absolute positioning method and apparatus |
Country Status (10)
Country | Link |
---|---|
US (1) | US5311195A (en) |
EP (1) | EP0601037B1 (en) |
JP (1) | JP3273439B2 (en) |
AT (1) | ATE193126T1 (en) |
AU (1) | AU653257B2 (en) |
CA (1) | CA2116242C (en) |
DE (1) | DE69231061T2 (en) |
HK (1) | HK1014812A1 (en) |
MD (1) | MD960292A (en) |
WO (1) | WO1993005587A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1995009348A1 (en) * | 1993-09-28 | 1995-04-06 | Robert Bosch Gmbh | Position-finding and navigation equipment with satellite back-up |
GB2287535A (en) * | 1994-03-17 | 1995-09-20 | Univ Surrey | Personal navigation system |
DE4424412A1 (en) * | 1994-07-12 | 1996-01-18 | Esg Elektroniksystem Und Logis | Radio telecommunication system with satellite navigation for both mobile telephony and VHF radio reception |
EP2426513A1 (en) * | 2010-09-01 | 2012-03-07 | Casio Computer Co., Ltd. | Positioning apparatus and positioning method |
WO2012084322A1 (en) * | 2010-12-21 | 2012-06-28 | Robert Bosch Gmbh | Determination of positions |
CN103033835A (en) * | 2011-09-30 | 2013-04-10 | 卡西欧计算机株式会社 | Positioning apparatus and positioning method |
WO2015072896A1 (en) * | 2013-11-12 | 2015-05-21 | Husqvarna Ab | Improved navigation for a robotic working tool |
Families Citing this family (163)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5428546A (en) * | 1992-10-16 | 1995-06-27 | Mobile Information Systems | Method and apparatus for tracking vehicle location |
US5758313A (en) * | 1992-10-16 | 1998-05-26 | Mobile Information Systems, Inc. | Method and apparatus for tracking vehicle location |
JPH06148307A (en) * | 1992-11-04 | 1994-05-27 | Pioneer Electron Corp | Navigation device |
US5563608A (en) * | 1993-07-27 | 1996-10-08 | Matsushita Electric Industrial Co., Ltd. | Position measuring system and method therefor |
US5488559A (en) * | 1993-08-02 | 1996-01-30 | Motorola, Inc. | Map-matching with competing sensory positions |
US5983161A (en) | 1993-08-11 | 1999-11-09 | Lemelson; Jerome H. | GPS vehicle collision avoidance warning and control system and method |
US5559696A (en) * | 1994-02-14 | 1996-09-24 | The Regents Of The University Of Michigan | Mobile robot internal position error correction system |
US5512903A (en) * | 1994-05-23 | 1996-04-30 | Honeywell Inc. | Integrity limit apparatus and method |
US5959580A (en) * | 1994-11-03 | 1999-09-28 | Ksi Inc. | Communications localization system |
US5922040A (en) * | 1995-05-17 | 1999-07-13 | Mobile Information System, Inc. | Method and apparatus for fleet management |
US5904727A (en) * | 1995-05-17 | 1999-05-18 | Mobile Information Systems, Inc. | Graphical fleet management methods |
US5902351A (en) * | 1995-08-24 | 1999-05-11 | The Penn State Research Foundation | Apparatus and method for tracking a vehicle |
US5774824A (en) * | 1995-08-24 | 1998-06-30 | The Penn State Research Foundation | Map-matching navigation system |
US5702070A (en) * | 1995-09-20 | 1997-12-30 | E-Systems, Inc. | Apparatus and method using relative GPS positioning for aircraft precision approach and landing |
US7092369B2 (en) | 1995-11-17 | 2006-08-15 | Symbol Technologies, Inc. | Communications network with wireless gateways for mobile terminal access |
US5774829A (en) * | 1995-12-12 | 1998-06-30 | Pinterra Corporation | Navigation and positioning system and method using uncoordinated beacon signals in conjunction with an absolute positioning system |
US5862511A (en) * | 1995-12-28 | 1999-01-19 | Magellan Dis, Inc. | Vehicle navigation system and method |
US5991692A (en) * | 1995-12-28 | 1999-11-23 | Magellan Dis, Inc. | Zero motion detection system for improved vehicle navigation system |
US6029111A (en) * | 1995-12-28 | 2000-02-22 | Magellan Dis, Inc. | Vehicle navigation system and method using GPS velocities |
US5951620A (en) * | 1996-01-26 | 1999-09-14 | Navigation Technologies Corporation | System and method for distributing information for storage media |
US5848364A (en) * | 1996-05-10 | 1998-12-08 | Honda Giken Kogyo Kabushiki Kaisha | Method and apparatus for vehicle navigation and guidance through a traffic circle |
US5842146A (en) * | 1996-05-10 | 1998-11-24 | Honda Giken Kogyo Kabushiki Kaisha | Method and apparatus of setting clock time and using time data in a vehicle navigation system |
US6108555A (en) * | 1996-05-17 | 2000-08-22 | Ksi, Inc. | Enchanced time difference localization system |
DE19633884B4 (en) * | 1996-08-19 | 2004-09-02 | Siemens Ag | Method for determining the object position of an object |
US7714778B2 (en) | 1997-08-20 | 2010-05-11 | Tracbeam Llc | Wireless location gateway and applications therefor |
US7903029B2 (en) | 1996-09-09 | 2011-03-08 | Tracbeam Llc | Wireless location routing applications and architecture therefor |
US7274332B1 (en) | 1996-09-09 | 2007-09-25 | Tracbeam Llc | Multiple evaluators for evaluation of a purality of conditions |
WO1998010307A1 (en) | 1996-09-09 | 1998-03-12 | Dennis Jay Dupray | Location of a mobile station |
US6236365B1 (en) | 1996-09-09 | 2001-05-22 | Tracbeam, Llc | Location of a mobile station using a plurality of commercial wireless infrastructures |
US9134398B2 (en) | 1996-09-09 | 2015-09-15 | Tracbeam Llc | Wireless location using network centric location estimators |
DE19645209B4 (en) * | 1996-11-02 | 2005-07-28 | Robert Bosch Gmbh | Locating device for a motor vehicle with a satellite receiver and locating method |
US5948043A (en) * | 1996-11-08 | 1999-09-07 | Etak, Inc. | Navigation system using GPS data |
US6026346A (en) * | 1996-11-27 | 2000-02-15 | Honda Giken Kogyo Kabushiki Kaisha | Navigation system for indicating of optimum route |
US5974357A (en) * | 1996-12-19 | 1999-10-26 | Alpine Electronics | Sign text display for vehicle navigation system |
US6308134B1 (en) | 1996-12-27 | 2001-10-23 | Magellan Dis, Inc. | Vehicle navigation system and method using multiple axes accelerometer |
US6092022A (en) * | 1997-02-28 | 2000-07-18 | Trimble Navigation | Optimal survey map projection system |
US6889139B2 (en) * | 1997-03-07 | 2005-05-03 | Sidewinder Holdings Ltd. | System and method for mobile data processing and transmission |
US6024655A (en) * | 1997-03-31 | 2000-02-15 | Leading Edge Technologies, Inc. | Map-matching golf navigation system |
US5873797A (en) * | 1997-04-03 | 1999-02-23 | Leading Edge Technologies, Inc. | Remote golf ball locator |
US6252605B1 (en) | 1997-08-01 | 2001-06-26 | Garmin Corporation | System and method for packing spatial data in an R-tree |
US5995970A (en) * | 1997-08-01 | 1999-11-30 | Garmin Corporation | Method and apparatus for geographic coordinate data storage |
US6680694B1 (en) | 1997-08-19 | 2004-01-20 | Siemens Vdo Automotive Corporation | Vehicle information system |
US6707421B1 (en) * | 1997-08-19 | 2004-03-16 | Siemens Vdo Automotive Corporation | Driver information system |
US6531982B1 (en) | 1997-09-30 | 2003-03-11 | Sirf Technology, Inc. | Field unit for use in a GPS system |
DE19803662C2 (en) * | 1998-01-30 | 1999-12-02 | Siemens Ag | Navigation device and method for determining position using dead reckoning |
US6016485A (en) * | 1998-02-13 | 2000-01-18 | Etak, Inc. | System for pathfinding |
US6327471B1 (en) | 1998-02-19 | 2001-12-04 | Conexant Systems, Inc. | Method and an apparatus for positioning system assisted cellular radiotelephone handoff and dropoff |
US6348744B1 (en) | 1998-04-14 | 2002-02-19 | Conexant Systems, Inc. | Integrated power management module |
US7711038B1 (en) | 1998-09-01 | 2010-05-04 | Sirf Technology, Inc. | System and method for despreading in a spread spectrum matched filter |
US7545854B1 (en) | 1998-09-01 | 2009-06-09 | Sirf Technology, Inc. | Doppler corrected spread spectrum matched filter |
US6693953B2 (en) | 1998-09-30 | 2004-02-17 | Skyworks Solutions, Inc. | Adaptive wireless communication receiver |
US8135413B2 (en) | 1998-11-24 | 2012-03-13 | Tracbeam Llc | Platform and applications for wireless location and other complex services |
US6448925B1 (en) | 1999-02-04 | 2002-09-10 | Conexant Systems, Inc. | Jamming detection and blanking for GPS receivers |
US6606349B1 (en) | 1999-02-04 | 2003-08-12 | Sirf Technology, Inc. | Spread spectrum receiver performance improvement |
US6192312B1 (en) | 1999-03-25 | 2001-02-20 | Navigation Technologies Corp. | Position determining program and method |
US6304216B1 (en) | 1999-03-30 | 2001-10-16 | Conexant Systems, Inc. | Signal detector employing correlation analysis of non-uniform and disjoint sample segments |
US6577271B1 (en) | 1999-03-30 | 2003-06-10 | Sirf Technology, Inc | Signal detector employing coherent integration |
DE19915212A1 (en) * | 1999-04-03 | 2000-10-05 | Bosch Gmbh Robert | Method and device for determining the position of a vehicle |
US6559865B1 (en) * | 1999-05-21 | 2003-05-06 | Tele Atlas North America, Inc. | Computing sign text for branches of an electronic map network |
US6351486B1 (en) | 1999-05-25 | 2002-02-26 | Conexant Systems, Inc. | Accelerated selection of a base station in a wireless communication system |
US20040215387A1 (en) * | 2002-02-14 | 2004-10-28 | Matsushita Electric Industrial Co., Ltd. | Method for transmitting location information on a digital map, apparatus for implementing the method, and traffic information provision/reception system |
JP3481168B2 (en) * | 1999-08-27 | 2003-12-22 | 松下電器産業株式会社 | Digital map location information transmission method |
US6285320B1 (en) | 1999-09-03 | 2001-09-04 | Sikorsky Aircraft Corporation | Apparatus and method for mapping surfaces of an object |
DE60031868T2 (en) | 1999-09-15 | 2007-09-13 | Sirf Technology, Inc., San Jose | NAVIGATION SYSTEM AND METHOD FOR FOLLOWING THE POSITION OF AN OBJECT |
US6278403B1 (en) * | 1999-09-17 | 2001-08-21 | Sirf Technology, Inc. | Autonomous hardwired tracking loop coprocessor for GPS and WAAS receiver |
WO2002000316A1 (en) | 1999-09-24 | 2002-01-03 | Goldberg Sheldon F | Geographically constrained network services |
US6965397B1 (en) | 1999-11-22 | 2005-11-15 | Sportvision, Inc. | Measuring camera attitude |
US6526322B1 (en) | 1999-12-16 | 2003-02-25 | Sirf Technology, Inc. | Shared memory architecture in GPS signal processing |
US6788655B1 (en) | 2000-04-18 | 2004-09-07 | Sirf Technology, Inc. | Personal communications device with ratio counter |
US6952440B1 (en) | 2000-04-18 | 2005-10-04 | Sirf Technology, Inc. | Signal detector employing a Doppler phase correction system |
US6714158B1 (en) | 2000-04-18 | 2004-03-30 | Sirf Technology, Inc. | Method and system for data detection in a global positioning system satellite receiver |
US6931055B1 (en) | 2000-04-18 | 2005-08-16 | Sirf Technology, Inc. | Signal detector employing a doppler phase correction system |
US7885314B1 (en) | 2000-05-02 | 2011-02-08 | Kenneth Scott Walley | Cancellation system and method for a wireless positioning system |
US7949362B2 (en) * | 2000-05-18 | 2011-05-24 | Sirf Technology, Inc. | Satellite positioning aided communication system selection |
US8078189B2 (en) | 2000-08-14 | 2011-12-13 | Sirf Technology, Inc. | System and method for providing location based services over a network |
US7929928B2 (en) * | 2000-05-18 | 2011-04-19 | Sirf Technology Inc. | Frequency phase correction system |
US8116976B2 (en) | 2000-05-18 | 2012-02-14 | Csr Technology Inc. | Satellite based positioning method and system for coarse location positioning |
US6671620B1 (en) | 2000-05-18 | 2003-12-30 | Sirf Technology, Inc. | Method and apparatus for determining global position using almanac information |
US6427120B1 (en) | 2000-08-14 | 2002-07-30 | Sirf Technology, Inc. | Information transfer in a multi-mode global positioning system used with wireless networks |
US6778136B2 (en) * | 2001-12-13 | 2004-08-17 | Sirf Technology, Inc. | Fast acquisition of GPS signal |
US6462708B1 (en) * | 2001-04-05 | 2002-10-08 | Sirf Technology, Inc. | GPS-based positioning system for mobile GPS terminals |
US7970412B2 (en) | 2000-05-18 | 2011-06-28 | Sirf Technology, Inc. | Aided location communication system |
US6389291B1 (en) | 2000-08-14 | 2002-05-14 | Sirf Technology | Multi-mode global positioning system for use with wireless networks |
US7970411B2 (en) * | 2000-05-18 | 2011-06-28 | Sirf Technology, Inc. | Aided location communication system |
US10684350B2 (en) | 2000-06-02 | 2020-06-16 | Tracbeam Llc | Services and applications for a communications network |
US10641861B2 (en) | 2000-06-02 | 2020-05-05 | Dennis J. Dupray | Services and applications for a communications network |
US9875492B2 (en) | 2001-05-22 | 2018-01-23 | Dennis J. Dupray | Real estate transaction system |
US7616705B1 (en) | 2000-07-27 | 2009-11-10 | Sirf Technology Holdings, Inc. | Monolithic GPS RF front end integrated circuit |
US6856794B1 (en) * | 2000-07-27 | 2005-02-15 | Sirf Technology, Inc. | Monolithic GPS RF front end integrated circuit |
US7236883B2 (en) * | 2000-08-14 | 2007-06-26 | Sirf Technology, Inc. | Aiding in a satellite positioning system |
US7680178B2 (en) | 2000-08-24 | 2010-03-16 | Sirf Technology, Inc. | Cross-correlation detection and elimination in a receiver |
ATE507486T1 (en) * | 2000-08-24 | 2011-05-15 | Sirf Tech Inc | DEVICE FOR REDUCING AUTOCORRELATION AND CROSS-CORRELATION IN WEAK CDMA SIGNALS |
US6931233B1 (en) | 2000-08-31 | 2005-08-16 | Sirf Technology, Inc. | GPS RF front end IC with programmable frequency synthesizer for use in wireless phones |
US6317683B1 (en) | 2000-10-05 | 2001-11-13 | Navigation Technologies Corp. | Vehicle positioning using three metrics |
US6502033B1 (en) | 2000-10-05 | 2002-12-31 | Navigation Technologies Corp. | Turn detection algorithm for vehicle positioning |
US7047023B1 (en) | 2000-12-01 | 2006-05-16 | Sirf Technology, Inc. | GPS RF front end IC with frequency plan for improved integrability |
JP5041638B2 (en) * | 2000-12-08 | 2012-10-03 | パナソニック株式会社 | Method for transmitting location information of digital map and device used therefor |
US7747236B1 (en) | 2000-12-11 | 2010-06-29 | Sirf Technology, Inc. | Method and apparatus for estimating local oscillator frequency for GPS receivers |
US7113552B1 (en) | 2000-12-21 | 2006-09-26 | Sirf Technology, Inc. | Phase sampling techniques using amplitude bits for digital receivers |
US7671489B1 (en) | 2001-01-26 | 2010-03-02 | Sirf Technology, Inc. | Method and apparatus for selectively maintaining circuit power when higher voltages are present |
JP4663136B2 (en) | 2001-01-29 | 2011-03-30 | パナソニック株式会社 | Method and apparatus for transmitting location information of digital map |
US6680703B1 (en) | 2001-02-16 | 2004-01-20 | Sirf Technology, Inc. | Method and apparatus for optimally tuning a circularly polarized patch antenna after installation |
US6703971B2 (en) * | 2001-02-21 | 2004-03-09 | Sirf Technologies, Inc. | Mode determination for mobile GPS terminals |
US7076256B1 (en) | 2001-04-16 | 2006-07-11 | Sirf Technology, Inc. | Method and apparatus for transmitting position data using control channels in wireless networks |
JP4749594B2 (en) * | 2001-04-27 | 2011-08-17 | パナソニック株式会社 | Digital map location information transmission method |
JP4230132B2 (en) | 2001-05-01 | 2009-02-25 | パナソニック株式会社 | Digital map shape vector encoding method, position information transmission method, and apparatus for implementing the same |
US7877104B2 (en) * | 2001-05-21 | 2011-01-25 | Sirf Technology Inc. | Method for synchronizing a radio network using end user radio terminals |
US7925210B2 (en) * | 2001-05-21 | 2011-04-12 | Sirf Technology, Inc. | Synchronizing a radio network with end user radio terminals |
US7668554B2 (en) * | 2001-05-21 | 2010-02-23 | Sirf Technology, Inc. | Network system for aided GPS broadcast positioning |
US8244271B2 (en) * | 2001-05-21 | 2012-08-14 | Csr Technology Inc. | Distributed data collection of satellite data |
US8082096B2 (en) | 2001-05-22 | 2011-12-20 | Tracbeam Llc | Wireless location routing applications and architecture therefor |
GB0117541D0 (en) * | 2001-07-19 | 2003-08-06 | Bae Systems Plc | Automatic registration of images in digital terrain elevation data |
GB2380793B (en) * | 2001-10-10 | 2005-03-09 | Roke Manor Research | Positioning system |
US6631321B1 (en) | 2001-10-29 | 2003-10-07 | Navigation Technologies Corp. | Vehicle heading change determination using compensated differential wheel speed |
US7221287B2 (en) | 2002-03-05 | 2007-05-22 | Triangle Software Llc | Three-dimensional traffic report |
US20040006424A1 (en) * | 2002-06-28 | 2004-01-08 | Joyce Glenn J. | Control system for tracking and targeting multiple autonomous objects |
KR100498987B1 (en) * | 2002-10-11 | 2005-07-01 | 엘지전자 주식회사 | Method for estimating location of vehicle in Global Positioning System Data's poor region |
US7170447B2 (en) * | 2003-02-14 | 2007-01-30 | Qualcomm Incorporated | Method and apparatus for processing navigation data in position determination |
US6839020B2 (en) * | 2003-06-02 | 2005-01-04 | Motorola, Inc. | Aiding location determinations in satellite positioning system receivers |
WO2005013063A2 (en) | 2003-07-25 | 2005-02-10 | Landsonar, Inc. | System and method for determining recommended departure time |
WO2008024123A2 (en) | 2005-10-28 | 2008-02-28 | Sirf Technology, Inc. | Global positioning system receiver timeline management |
US8138972B2 (en) * | 2003-09-02 | 2012-03-20 | Csr Technology Inc. | Signal processing system for satellite positioning signals |
KR20070019940A (en) | 2003-09-02 | 2007-02-16 | 서프 테크놀러지, 인코포레이티드 | Control and features for satellite positioning system receivers |
KR100557081B1 (en) * | 2003-12-18 | 2006-03-03 | 삼성전자주식회사 | Method and apparatus for estimating time delay of gps receiver for hybrid navigation system |
US7365680B2 (en) * | 2004-02-10 | 2008-04-29 | Sirf Technology, Inc. | Location services system that reduces auto-correlation or cross-correlation in weak signals |
JP4315832B2 (en) * | 2004-02-17 | 2009-08-19 | 三菱電機株式会社 | Thermal infrared sensor element and thermal infrared sensor array |
US20050209762A1 (en) * | 2004-03-18 | 2005-09-22 | Ford Global Technologies, Llc | Method and apparatus for controlling a vehicle using an object detection system and brake-steer |
US20060021231A1 (en) * | 2004-07-28 | 2006-02-02 | Carey Nancy D | Adaptive scissors |
US7908080B2 (en) | 2004-12-31 | 2011-03-15 | Google Inc. | Transportation routing |
EP1853878A2 (en) * | 2005-02-07 | 2007-11-14 | Siemens VDO Automotive Corporation | Navigation system |
US8370054B2 (en) * | 2005-03-24 | 2013-02-05 | Google Inc. | User location driven identification of service vehicles |
CN101563625A (en) | 2006-11-06 | 2009-10-21 | 电子地图有限公司 | Arrangement for and method of two dimensional and three dimensional precision location and orientation determination |
WO2008143497A1 (en) | 2007-05-24 | 2008-11-27 | Tele Atlas B.V. | Positioning device and method to determine a position using an absolute positioning system and a relative positioning system, computer program and a data carrier |
US20090177382A1 (en) * | 2008-01-03 | 2009-07-09 | Commscope, Inc. Of North Carolina | Calibration of a Navigation System |
US20090267832A1 (en) * | 2008-04-29 | 2009-10-29 | Texas Instruments Incorporated | Systems and methods for dynamically determining position |
US9208458B2 (en) | 2008-10-02 | 2015-12-08 | Certusview Technologies, Llc | Methods and apparatus for analyzing locate and marking operations with respect to facilities maps |
US8239133B2 (en) * | 2008-07-02 | 2012-08-07 | O2Micro, International | Global positioning system and dead reckoning (GPSandDR) integrated navigation system |
US20100198663A1 (en) | 2008-10-02 | 2010-08-05 | Certusview Technologies, Llc | Methods and apparatus for overlaying electronic marking information on facilities map information and/or other image information displayed on a marking device |
US8478617B2 (en) | 2008-10-02 | 2013-07-02 | Certusview Technologies, Llc | Methods and apparatus for generating alerts on a locate device, based on comparing electronic locate information to facilities map information and/or other image information |
US20100188407A1 (en) | 2008-10-02 | 2010-07-29 | Certusview Technologies, Llc | Methods and apparatus for displaying and processing facilities map information and/or other image information on a marking device |
US8527308B2 (en) | 2008-10-02 | 2013-09-03 | Certusview Technologies, Llc | Methods and apparatus for overlaying electronic locate information on facilities map information and/or other image information displayed on a locate device |
US8510141B2 (en) | 2008-10-02 | 2013-08-13 | Certusview Technologies, Llc | Methods and apparatus for generating alerts on a marking device, based on comparing electronic marking information to facilities map information and/or other image information |
CA2691780C (en) | 2009-02-11 | 2015-09-22 | Certusview Technologies, Llc | Management system, and associated methods and apparatus, for providing automatic assesment of a locate operation |
US8619072B2 (en) | 2009-03-04 | 2013-12-31 | Triangle Software Llc | Controlling a three-dimensional virtual broadcast presentation |
US8982116B2 (en) | 2009-03-04 | 2015-03-17 | Pelmorex Canada Inc. | Touch screen based interaction with traffic data |
US9046924B2 (en) | 2009-03-04 | 2015-06-02 | Pelmorex Canada Inc. | Gesture based interaction with traffic data |
CA2771286C (en) | 2009-08-11 | 2016-08-30 | Certusview Technologies, Llc | Locating equipment communicatively coupled to or equipped with a mobile/portable device |
US9538493B2 (en) | 2010-08-23 | 2017-01-03 | Finetrak, Llc | Locating a mobile station and applications therefor |
CA2823827C (en) | 2010-11-14 | 2018-08-28 | Triangle Software Llc | Crowd sourced traffic reporting |
CA2839866C (en) | 2011-05-18 | 2021-04-13 | Triangle Software Llc | System for providing traffic data and driving efficiency data |
WO2013113029A1 (en) | 2012-01-27 | 2013-08-01 | Triangle Software, Llc | Estimating time travel distributions on signalized arterials |
CN103675859A (en) * | 2012-09-10 | 2014-03-26 | 迈实电子(上海)有限公司 | Satellite navigation receiver and equipment as well as method for positioning satellite navigation receiver |
US10223909B2 (en) | 2012-10-18 | 2019-03-05 | Uber Technologies, Inc. | Estimating time travel distributions on signalized arterials |
US9544741B2 (en) * | 2013-01-18 | 2017-01-10 | Panasonic Intellectual Property Management Co., Ltd. | Terminal |
EP2793041A1 (en) | 2013-04-15 | 2014-10-22 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Assured vehicle absolute localisation |
US8768618B1 (en) * | 2013-05-15 | 2014-07-01 | Google Inc. | Determining a location of a mobile device using a multi-modal kalman filter |
US10311756B1 (en) | 2013-06-28 | 2019-06-04 | Google Llc | Systems, methods, and computer-readable media for validating addresses |
DE102013018807A1 (en) | 2013-11-11 | 2015-05-13 | Neusoft Technology Solutions Gmbh | Radio navigation device and method for receiving, evaluating and editing erroneous navigation signals |
CN103941272B (en) * | 2014-04-09 | 2016-08-31 | 北极星云空间技术股份有限公司 | The localization method of GPS, GLONASS and BDS Combined Calculation |
SE540154C2 (en) * | 2015-05-05 | 2018-04-17 | Scania Cv Ab | Device and method for managing communication for a vehicle |
US9939514B2 (en) * | 2015-06-30 | 2018-04-10 | Here Global B.V. | Determination of a statistical attribute of a set of measurement errors |
DE102017211712A1 (en) | 2017-07-10 | 2019-01-10 | Audi Ag | A data generation method for generating and updating a topology map for at least one room of at least one building |
EP3991085A1 (en) | 2019-06-25 | 2022-05-04 | Motorola Solutions, Inc. | System and method for saving bandwidth in performing facial recognition |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4232313A (en) * | 1972-09-22 | 1980-11-04 | The United States Of America As Represented By The Secretary Of The Navy | Tactical nagivation and communication system |
US4796191A (en) * | 1984-06-07 | 1989-01-03 | Etak, Inc. | Vehicle navigational system and method |
US4876550A (en) * | 1987-10-08 | 1989-10-24 | Allied-Signal Inc. | Ridge regression signal processing for position-fix navigation systems |
US4899285A (en) * | 1986-06-26 | 1990-02-06 | Nissan Motor Company, Limited | System and method for measuring a position of a moving object with a hybrid navigation apparatus |
US4949268A (en) * | 1987-09-22 | 1990-08-14 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Land vehicle navigation system |
US4954833A (en) * | 1989-07-05 | 1990-09-04 | The United States Of America As Represented By The Secretary Of The Navy | Method for determining astronomic azimuth |
US5075693A (en) * | 1988-10-05 | 1991-12-24 | Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of National Defence Of Her Majesty's Canadian Government | Primary land arctic navigation system |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3940597A (en) * | 1974-12-05 | 1976-02-24 | Dynell Electronics Corporation | Navigational error correcting system |
JPS57159310A (en) * | 1981-03-28 | 1982-10-01 | Nissan Motor Co Ltd | Running inductive device for car |
MX19222A (en) * | 1989-01-23 | 1993-12-01 | Pfizer | ANSIOLYTIC AGENTS BIS-AZA-BICYCLIC |
JPH0792388B2 (en) * | 1989-04-17 | 1995-10-09 | 住友電気工業株式会社 | Position detector |
GB2241623A (en) * | 1990-02-28 | 1991-09-04 | Philips Electronic Associated | Vehicle location system |
JP2979582B2 (en) * | 1990-05-23 | 1999-11-15 | ソニー株式会社 | Transmission system |
US5185610A (en) * | 1990-08-20 | 1993-02-09 | Texas Instruments Incorporated | GPS system and method for deriving pointing or attitude from a single GPS receiver |
JP2873872B2 (en) * | 1990-09-06 | 1999-03-24 | 株式会社ソキア | C / A code removal type frequency diversity correlation reception system in GPS |
-
1991
- 1991-08-30 US US07/753,190 patent/US5311195A/en not_active Expired - Lifetime
-
1992
- 1992-07-31 JP JP50518393A patent/JP3273439B2/en not_active Expired - Lifetime
- 1992-07-31 AU AU24926/92A patent/AU653257B2/en not_active Expired
- 1992-07-31 MD MD96-0292A patent/MD960292A/en unknown
- 1992-07-31 CA CA002116242A patent/CA2116242C/en not_active Expired - Lifetime
- 1992-07-31 DE DE69231061T patent/DE69231061T2/en not_active Expired - Lifetime
- 1992-07-31 WO PCT/US1992/006442 patent/WO1993005587A1/en active IP Right Grant
- 1992-07-31 AT AT92918607T patent/ATE193126T1/en not_active IP Right Cessation
- 1992-07-31 EP EP92918607A patent/EP0601037B1/en not_active Expired - Lifetime
-
1998
- 1998-12-28 HK HK98116157A patent/HK1014812A1/en not_active IP Right Cessation
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4232313A (en) * | 1972-09-22 | 1980-11-04 | The United States Of America As Represented By The Secretary Of The Navy | Tactical nagivation and communication system |
US4796191A (en) * | 1984-06-07 | 1989-01-03 | Etak, Inc. | Vehicle navigational system and method |
US4899285A (en) * | 1986-06-26 | 1990-02-06 | Nissan Motor Company, Limited | System and method for measuring a position of a moving object with a hybrid navigation apparatus |
US4949268A (en) * | 1987-09-22 | 1990-08-14 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Land vehicle navigation system |
US4876550A (en) * | 1987-10-08 | 1989-10-24 | Allied-Signal Inc. | Ridge regression signal processing for position-fix navigation systems |
US5075693A (en) * | 1988-10-05 | 1991-12-24 | Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of National Defence Of Her Majesty's Canadian Government | Primary land arctic navigation system |
US4954833A (en) * | 1989-07-05 | 1990-09-04 | The United States Of America As Represented By The Secretary Of The Navy | Method for determining astronomic azimuth |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1995009348A1 (en) * | 1993-09-28 | 1995-04-06 | Robert Bosch Gmbh | Position-finding and navigation equipment with satellite back-up |
GB2287535A (en) * | 1994-03-17 | 1995-09-20 | Univ Surrey | Personal navigation system |
GB2287535B (en) * | 1994-03-17 | 1998-03-04 | Univ Surrey | Personal navigation system |
DE4424412A1 (en) * | 1994-07-12 | 1996-01-18 | Esg Elektroniksystem Und Logis | Radio telecommunication system with satellite navigation for both mobile telephony and VHF radio reception |
CN102540231A (en) * | 2010-09-01 | 2012-07-04 | 卡西欧计算机株式会社 | Positioning apparatus and positioning method |
EP2426513A1 (en) * | 2010-09-01 | 2012-03-07 | Casio Computer Co., Ltd. | Positioning apparatus and positioning method |
US8805642B2 (en) | 2010-09-01 | 2014-08-12 | Casio Computer Co., Ltd. | Positioning apparatus, positioning method, and storage medium |
WO2012084322A1 (en) * | 2010-12-21 | 2012-06-28 | Robert Bosch Gmbh | Determination of positions |
CN103502833A (en) * | 2010-12-21 | 2014-01-08 | 罗伯特·博世有限公司 | Determination of positions |
US9285408B2 (en) | 2010-12-21 | 2016-03-15 | Robert Bosch Gmbh | Determination of positions |
CN103033835A (en) * | 2011-09-30 | 2013-04-10 | 卡西欧计算机株式会社 | Positioning apparatus and positioning method |
WO2015072896A1 (en) * | 2013-11-12 | 2015-05-21 | Husqvarna Ab | Improved navigation for a robotic working tool |
US10136576B2 (en) | 2013-11-12 | 2018-11-27 | Husqvarna Ab | Navigation for a robotic working tool |
Also Published As
Publication number | Publication date |
---|---|
EP0601037B1 (en) | 2000-05-17 |
EP0601037A1 (en) | 1994-06-15 |
ATE193126T1 (en) | 2000-06-15 |
JP3273439B2 (en) | 2002-04-08 |
CA2116242A1 (en) | 1993-03-18 |
JPH07504971A (en) | 1995-06-01 |
CA2116242C (en) | 2002-09-24 |
EP0601037A4 (en) | 1996-07-17 |
MD960292A (en) | 1998-11-30 |
DE69231061T2 (en) | 2001-02-01 |
AU653257B2 (en) | 1994-09-22 |
HK1014812A1 (en) | 1999-09-30 |
DE69231061D1 (en) | 2000-06-21 |
AU2492692A (en) | 1993-04-05 |
US5311195A (en) | 1994-05-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5311195A (en) | Combined relative and absolute positioning method and apparatus | |
US7692583B2 (en) | GPS position measuring device | |
US5210540A (en) | Global positioning system | |
US5265025A (en) | Navigation system using satellite signals | |
US5948043A (en) | Navigation system using GPS data | |
US5119301A (en) | Vehicle location detecting system | |
AU683240B2 (en) | Position correction method for vehicle navigation system | |
US6029496A (en) | Method and device for automatic calibration of an odometer | |
US6107939A (en) | Lane change alarm for use in a highway vehicle | |
EP0527558A1 (en) | GPS navigation system with local speed direction sensing and PDOP accuracy evaluation | |
US5883595A (en) | Method and apparatus for mitigating multipath effects and smoothing groundtracks in a GPS receiver | |
US20040239560A1 (en) | Hybrid inertial navigation system with improved integrity | |
US6011461A (en) | Detection of truck speed sensor failure using GPS | |
JP4652097B2 (en) | Altitude calculation device and navigation device | |
GB2126040A (en) | Navigation apparatus for land vehicles | |
JP3278911B2 (en) | GPS navigation system for vehicles | |
US5974359A (en) | Method and apparatus for correcting output sensitivity, and navigation system | |
KR100573955B1 (en) | Method for correcting gps location information by error verification | |
US5928295A (en) | Method and apparatus for automatic calibration of the wheel track of a movable vehicle | |
KR100448054B1 (en) | Method for Preparing Geographical Information System Employing the Amended Value as Road Data | |
KR100579654B1 (en) | Method for correcting gps position information using environmental weighting reference points and distant weighting reference points | |
JP2786309B2 (en) | Vehicle position detection device | |
JPH0351783A (en) | Navigation apparatus for automobile | |
Liang et al. | Low cost integrated marine navigation system | |
KR100575105B1 (en) | Method for correcting gps position information of facilities using environmental weighting reference points and distant weighting reference points |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AU CA JP |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IT LU MC NL SE |
|
COP | Corrected version of pamphlet |
Free format text: PAGE 4/4,DRAWINGS,REPLACED BY NEW PAGE 4/4;DUE TO LATE TRANSMITTAL BY THE RECEIVING OFFICE |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
EX32 | Extension under rule 32 effected after completion of technical preparation for international publication | ||
LE32 | Later election for international application filed prior to expiration of 19th month from priority date or according to rule 32.2 (b) | ||
LE32 | Later election for international application filed prior to expiration of 19th month from priority date or according to rule 32.2 (b) | ||
LE32 | Later election for international application filed prior to expiration of 19th month from priority date or according to rule 32.2 (b) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2116242 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1992918607 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1992918607 Country of ref document: EP |
|
EX32 | Extension under rule 32 effected after completion of technical preparation for international publication |
Free format text: AM+,KG+,MD+,TJ+,TM+ |
|
WWE | Wipo information: entry into national phase |
Ref document number: 96-0292 Country of ref document: MD |
|
WWG | Wipo information: grant in national office |
Ref document number: 1992918607 Country of ref document: EP |