Self-contained positioning method and system thereof for water and land vehicles
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United States of America Patent
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Oct 1, 2002
Grant Date -
N/A
app pub date -
Sep 25, 2000
filing date -
Sep 23, 1999
priority date (Note) -
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Abstract
A positioning method and system for water and land vehicles is disclosed for highly accurate and self-contained operation. In which, an inertial navigation system (INS) is built on the micro MEMS (MicroElectroMechanicalSystem) IMU that is the core of the position determination system. To compensate the error of the INS, multiple navigation sensors are integrated into the system. The magnetic sensor is used as a magnetic field sensor to measure the heading of the vehicle. The odometer is used to measure the distance when the vehicle is on land. An automated Zero velocity updating method is used to calibrate the ever increasing INS errors. When the vehicle is in the water, a velocimeter is used to measure water speed for the INS aiding.
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