Self-Moving Navigation Switching for Obstructed GPS Signals
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Solution Overview
Problem
Self-moving devices, such as automatic mowers, face navigation challenges when GPS signals are obstructed, leading to reduced precision and potential damage due to 'blind navigation' and increased complexity and cost from relying solely on GPS or inertial navigation systems.
Innovation Solution
The device incorporates a control module that determines the quality of satellite navigation signals and adjusts its movement to maintain high-precision navigation by switching between satellite and inertial navigation, using location sensors to correct positioning errors and move towards areas with better signal reception.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS navigation is used when traveling alongside obstacles, then navigation can be maintained, but positioning precision deteriorates due to signal blocking
Solution Approach 1:
The patent combines multiple navigation systems (GPS, inertial navigation, magnetic navigation) into a unified navigation system that integrates their outputs through a fusion algorithm. This allows the system to maintain navigation continuity while compensating for the weaknesses of individual systems when GPS signals are blocked by obstacles.
Solution Approach 2:
The patent introduces an intermediary navigation system (inertial and magnetic navigation) that acts as a mediator when GPS signals are unavailable. These intermediate systems bridge the gap during signal blocking, maintaining positioning precision without complete reliance on GPS.
2Adaptability or versatility
If inertial navigation system is used to perform navigation, then navigation can be maintained without GPS, but precision deteriorates over time due to cumulative errors
Solution Approach 1:
The patent implements a feedback mechanism where the inertial navigation system continuously receives correction from GPS when available. The system uses GPS positioning results to correct and reset the cumulative errors of inertial navigation, maintaining long-term positioning precision while preserving navigation independence.
Solution Approach 2:
The system periodically switches between GPS-based navigation and inertial/magnetic navigation based on signal availability. When GPS signals are restored after being blocked, the system periodically re-synchronizes with GPS to reset cumulative errors, maintaining precision through periodic correction.
3Measurement precision
If DGPS base station and mobile station cannot receive signals of at least four satellites together, then positioning precision is improved through differential correction, but a dead zone is created where precise positioning cannot be performed
Solution Approach 1:
The patent introduces magnetic navigation as an intermediary system that operates independently of satellite signals. This intermediary navigation method fills the dead zones where DGPS cannot function, extending the coverage area while maintaining positioning capability through alternative measurement principles.
Solution Approach 2:
The system merges DGPS with inertial and magnetic navigation systems, creating a hybrid navigation architecture. This combination ensures that when DGPS enters a dead zone due to satellite visibility requirements, the other systems can maintain positioning, thereby expanding the overall coverage area.
4Measurement precision
If the automatic mower stops to perform computation for a long time in situ to obtain accurate coordinates, then positioning precision is improved, but productivity deteriorates due to work interruption
Solution Approach 1:
The patent enables continuous navigation computation by integrating multiple navigation systems that can operate simultaneously. The system continuously fuses data from GPS, inertial sensors, and magnetic sensors without requiring the mower to stop, maintaining both coordinate accuracy and mowing productivity through uninterrupted operation.
Solution Approach 2:
The system performs preliminary navigation calculations and predictions using inertial and magnetic data before GPS signals are fully acquired or during transition periods. This preliminary action provides continuous positioning estimates without requiring the mower to stop for computation, maintaining productivity while ensuring accuracy.
Data Source
AI summary
A self-moving device, including: a moving module, a task execution module, a control module. The control module is electrically connected to the moving module and the task execution module, controls the moving module to actuate the self-moving device to move, controls the task execution module to execute a working task. The self-moving device further includes a satellite navigation apparatus, electrically connected to the control module and configured to receive a satellite signal and output current location information of the self-moving device. The control module determines whether quality of location information output by the satellite navigation apparatus at a current location satisfies a preset condition, controls, if the quality does not satisfy the preset condition, the moving module to actuate the self-moving device to change a moving manner, to enable quality of location information output by the satellite navigation apparatus at a location after the movement to satisfy the preset condition.