摘要 |
Systems and methods for positioning and navigating an autonomous vehicle (102,310) allow the vehicle (102,310) to travel between locations. A first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170,200-206) are not in view of the vehicle (102,310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102,310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908,910). <IMAGE> |
申请人 |
CATERPILLAR INC. |
发明人 |
KYRTSOS, CHRISTOS T.;GUDAT, ADAM J.;CHRISTENSEN, DANA A.;FRIEDRICH, DOUGLAS W.;STAFFORD, DARRELL E.;SENNOTT, JAMES W.;BRADBURY, WALTER J.;CLOW, RICHARD G.;DEVIER, LONNIE J.;KEMNER, CARL A.;KLEIMENHAGEN, KARL W.;KOEHRSEN, CRAIG L.;LAY, NORMAN K.;PETERSON, JOEL L.;RAO, PRITHVI N.;SCHMIDT, LARRY E.;SHAFFER, GARY K.;SHI, WENFAN;SHIN, DONG HUN;SINGH, SANJIV J. |