Navigation Speed Fusion with Density Regression Correction

The patent combines GPS location-based speed measurement with sensor-based speed measurement (from wheel speed sensors) to create a hybrid speed estimation system. The control unit fuses data from both sources, using the GPS data to correct sensor biases and the sensor data to provide high-frequency measurements, thereby achieving both high accuracy and high measurement frequency that neither method could achieve alone.

The system uses GPS location-based speed measurements as a reference to detect biases in sensor-based speed measurements. The control unit continuously compares sensor readings with GPS-derived speeds, identifies deviations caused by wheel radius changes, and applies correction factors to the sensor data. This feedback mechanism enables the system to maintain high measurement frequency while correcting accuracy errors.

The patent transforms the approach by changing how GPS data is utilized - instead of directly using GPS speed calculations, the system uses GPS position data to compute speed through differentiation and statistical processing. The control unit implements a probabilistic model that analyzes multiple GPS position points over time, applying parameter transformations that extract more reliable speed information from the location data, thereby improving reliability while maintaining implementation simplicity.