发明名称 |
ARRANGEMENT FOR AND METHOD OF TWO DIMENSIONAL AND THREE DIMENSIONAL PRECISION LOCATION AND ORIENTATION DETERMINATION |
摘要 |
In one embodiment of the present invention, a method of and apparatus for determining inaccurate GPS samples in a set of GPS samples is disclosed, according to the following actions: a) obtaining GPS samples as taken by a global positioning system on board a vehicle when traveling along a trajectory; b) obtaining a first estimation of the trajectory based on the GPS samples; c) obtaining a second estimation of the trajectory at least based on measurements made by an inertial measurement unit on board vehicle when traveling along the trajectory; d) comparing the first and second estimations; e) establishing locations where the first estimation shows a variation compared with the second estimation above a predetermined threshold; f) if no such locations can be established continue with action j), otherwise continue with action g); g) removing GPS samples associated with the locations of high variation as being inaccurate GPS samples, thus forming a set of remaining GPS samples; h) calculating the first estimation anew of the trajectory based on the remaining GPS samples and calculating the second estimation anew; i) repeating actions d) to h); j) ending the actions.
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申请公布号 |
US2010039318(A1) |
申请公布日期 |
2010.02.18 |
申请号 |
US20060312301 |
申请日期 |
2006.11.06 |
申请人 |
KMIECIK MARCIN MICHAL;MIKSA KRZYSZTOF |
发明人 |
KMIECIK MARCIN MICHAL;MIKSA KRZYSZTOF |
分类号 |
G01S5/14;G01S19/23;G01S19/47 |
主分类号 |
G01S5/14 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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