Collaborative Vehicle Navigation Using Integral Error Correction
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Solution Overview
Problem
Existing collaborative navigation methods require significant computational resources, particularly when using Kalman filtering for vehicles with different navigation device accuracies.
Innovation Solution
A method utilizing an integral controller with a pure integrating corrector to calculate and correct navigation errors between vehicles with different accuracy levels, leveraging a leader vehicle's accurate navigation device to improve the accuracy of a less accurate device, while reducing computational demands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If Kalman filtering is used for collaborative navigation between vehicles with different navigation device accuracies, then navigation accuracy is improved, but computational resource requirements increase
Solution Approach 1:
The patent extracts and isolates only the essential correction elements needed for collaborative navigation, separating the critical accuracy-improving functions from the computationally intensive Kalman filtering operations. By taking out only the necessary correction calculations based on relative position measurements, the system achieves navigation accuracy improvement without the full computational burden of Kalman filtering.
Solution Approach 2:
The patent employs simplified correction calculations that are computationally inexpensive compared to full Kalman filtering. These lightweight correction mechanisms provide the necessary accuracy improvement with minimal computational resources, effectively replacing the expensive Kalman filter with more efficient algorithms that achieve the same goal with less processing power.
2Measurement precision
If collaborative navigation is implemented to improve accuracy of less accurate navigation devices, then navigation error is reduced, but system complexity increases
Solution Approach 1:
The patent segments the collaborative navigation system into distinct functional modules: the leader vehicle's navigation device, the follower vehicle's navigation device, and the correction mechanism based on relative position measurements. This segmentation allows each component to operate independently with well-defined interfaces, reducing overall system complexity while maintaining the ability to reduce navigation errors through coordinated operation.
Solution Approach 2:
The patent introduces an intermediary correction mechanism that mediates between the leader and follower navigation devices. This intermediary uses relative position measurements to generate corrections that improve the follower's navigation accuracy without requiring direct complex interaction between the navigation devices themselves, thereby reducing system complexity while achieving error reduction.
Data Source
AI summary
A method of collaborative navigation between a first vehicle (A) and a second vehicle (L) moving in the same space area, the first vehicle (A) being equipped with a first navigation device NA that is less accurate than a second navigation device NL equipping the second vehicle (L), includes at the same time, measuring a first position YAm of the first vehicle (A) by the first navigation device (NA) and a second position YL of the second vehicle (L) by the second navigation device (NL), measure a position deviation YA/L between the two vehicles such that δYA=YAm−YL−YA/L with YA an actual position of the first vehicle and δYA a navigation error of the first navigation device such that YAm=YA+δYA, and model an evolution of the navigation error δYA by a state model comprising a control using a pure integrating corrector to maintain the navigation error δYA at zero.