Vehicle Location Control in GNSS-Blocked Structures
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Solution Overview
Problem
Existing vehicle control systems face challenges in determining accurate vehicle locations in areas where Global Navigation Satellite System (GNSS) signals are unavailable, such as underground or blocked structures, leading to limitations in safe movement control and increased complexity with additional sensors or signals.
Innovation Solution
A method and system that utilize inertial measurement sensors to calculate vehicle locations within blocking structures by combining sensed locations from off-board sources with dead reckoning calculations, allowing for route selection and communication to an off-board system for safe movement control without relying on additional components or signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS signals are used to determine vehicle location, then location accuracy is improved, but the system fails in blocking structures where GNSS signals are unavailable
Solution Approach 1:
The system performs preliminary actions by storing the last known accurate GNSS location and vehicle orientation data before entering a blocking structure. This pre-stored information serves as the foundation for subsequent dead reckoning calculations, enabling the system to maintain location tracking when GNSS signals are unavailable.
Solution Approach 2:
The system introduces an intermediary solution by using onboard sensors (accelerometers, gyroscopes, magnetometers) and dead reckoning algorithms as a bridge between GNSS signal availability and vehicle location determination. This intermediary mechanism allows continuous location tracking by calculating position changes from the last known GNSS position.
2Reliability
If additional sensors and signals are added to determine locations in GNSS dark areas, then location determination capability is improved, but system complexity and cost increase
Solution Approach 1:
The system applies multi-functionality by using existing onboard sensors (accelerometers, gyroscopes, magnetometers) that serve multiple purposes: vehicle control, stability monitoring, and location determination through dead reckoning. This eliminates the need for dedicated additional sensors specifically for GNSS-denied navigation.
Solution Approach 2:
The system implements self-service by utilizing the vehicle's own existing sensor suite and computational resources to perform location determination in GNSS dark areas, rather than relying on external infrastructure or additional specialized components. The vehicle essentially navigates itself using its inherent capabilities.
3Reliability
If the last known location is used when GNSS signals are unavailable, then system operation is maintained, but accuracy degrades due to lack of quality wheel tachometer and vehicle movement since prior trip
Solution Approach 1:
The system replaces the mechanical wheel tachometer-based location tracking with an inertial sensing system using accelerometers and gyroscopes. This substitution enables more accurate and continuous position, velocity, and orientation tracking without relying on wheel rotation measurements, thereby maintaining accuracy despite vehicle movement since the prior trip.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and precise vehicle location determination and safe movement control in GNSS-denied areas, reducing system complexity and cost by leveraging existing onboard components, ensuring reliable operation and safety through calculated locations and route selection.
Implementation Method 1
calculating a calculated location of the vehicle responsive to the vehicle moving into a blocking structure where the vehicle does not determine the sensed location of the vehicle based off the one or more location signals. The calculated location of the vehicle may be calculated using one or more sensor outputs
Data Source
AI summary
A system is provided to initialize a vehicle for movement under or with the protection of a vehicle control system. The system may determine a sensed location of a vehicle based off one or more location signals received from an off-board source, and calculate a location of the vehicle responsive to the vehicle moving into a blocking structure where the vehicle does not determine the sensed location of the vehicle based off the one or more location signals. The calculated location of the vehicle may be calculated using one or more sensor outputs. A route is selected from among several routes within the blocking structure based on the calculated location. The selected route is communicated to a back-office system, and movement of the vehicle is controlled using one or more control signals received from the back-office system that are based on the route that is selected.