| 摘要 |
<p>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).</p> |
