Method and apparatus for differential scale factor calibration in differential odometry systems integrated with GPS
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United States of America Patent
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May 8, 2001
Grant Date -
N/A
app pub date -
Jan 31, 1997
filing date -
Jan 31, 1997
priority date (Note) -
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Abstract
Calibration of a differential scale factor associated with left and right wheels of a vehicle having a terrestrial navigation system. The terrestrial navigation system includes a GPS receiver integrated with a dead reckoning system. The dead reckoning system has wheel sensors coupled to the left and right wheels. The calibration of the differential scale factor includes: determining a heading change with the dead reckoning system, using the determined heading change to determine an open loop heading, determining an error in the differential scale factor based on the open loop heading and an alternate heading, and using the error in the differential scale factor to adjust an initial value of the differential scale factor.
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