Determining position of vehicle, especially autonomous vehicle, involves using orientation angle sensor signal to transform distance vector from vehicle co-ordinate system to fixed system

摘要

The method involves measuring vertical and horizontal components of the magnetic field of a magnetic marker (M) in relation to a fixed co-ordinate system and deriving a distance vector representing the distance of the vehicle (F) from the marker from the components. The vehicle has an orientation angle sensor for determining the angle between a vehicle co-ordinate system and the fixed system that is used to transform the distance vector into the fixed co-ordinate system.