SYSTEM AND METHOD FOR DETERMINING HEADING

摘要

PROBLEM TO BE SOLVED: To provide a system and a method of determining heading of a traveling vehicle without requiring traditional alignment procedures such as S-turns while traveling.

SOLUTION: The system for determining the heading which can be mounted on the traveling vehicle includes: an image system for determining, for each of a plurality of distinctive features captured and matched at a first time point and a second time point, a first unit vector associated with the matched distinctive feature and a second unit vector associated with the matched distinctive feature; a GPS for determining a translation vector based on carrier phase information captured from the first time point to the second time point; and a coupled processor for minimizing an error in an epipolar equation for each of the plurality of the matched distinctive features based on the respective first unit vector, the second unit vector and the translation vector to determine corrected heading.

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