Vehicle Orientation Determination Using Sensor Fusion
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Solution Overview
Problem
Current GPS-based navigation systems are insufficient for accurately determining vehicle orientation, especially at reduced speeds or in areas with weak satellite signals, leading to inaccurate location tracking and orientation determination.
Innovation Solution
A method and system that utilize a connected device with satellite signals receivers, inertial sensors, and a processor to determine vehicle orientation by combining relative orientations of the device to the vehicle and a reference object, such as geographical north, even when satellite signals are insufficient, using rotation matrices and coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS signals are used to determine vehicle orientation, then the system can provide navigation information, but the accuracy is insufficient (beyond 3 meters) especially at reduced speeds or in weak signal areas
Solution Approach 1:
The patent combines multiple sensing systems (GPS satellite signals, inertial sensors including accelerometers and gyroscopes, and magnetometers) into an integrated navigation system. The inertial measurement unit (IMU) provides complementary data that compensates for GPS limitations, particularly during periods when GPS signals are weak or insufficient, thereby improving both measurement precision and reliability of vehicle orientation determination
Solution Approach 2:
The patent introduces an intermediary computational system that processes and fuses data from multiple sources. The processor combines GPS position data with inertial sensor measurements and magnetic field data to calculate vehicle orientation. This intermediary processing layer reconciles the limitations of individual sensors by using their relative strengths, maintaining accurate orientation determination even when GPS signals are degraded
2Measurement precision
If GPS signals alone are used for navigation, then the system is simple, but the vehicle orientation cannot be accurately determined when the vehicle turns at reduced speed
Solution Approach 1:
The system merges GPS receiver functionality with an inertial measurement unit (IMU) containing accelerometers and gyroscopes, along with a magnetometer. This combination provides complementary measurement capabilities: GPS provides position over time, while inertial sensors provide direct orientation and acceleration data that is particularly valuable during turns and low-speed maneuvers where GPS position changes are minimal
Solution Approach 2:
The system changes the parameters used for orientation determination by incorporating inertial sensor measurements (acceleration, angular velocity, magnetic field strength) in addition to GPS position data. The processor uses these additional parameters to calculate orientation through sensor fusion algorithms, enabling accurate orientation determination during turns by relying more heavily on inertial data when position changes are small
3Reliability
If GPS signals are used for location tracking, then the system can provide navigation maps, but the location may jump around the real location due to lack of sufficient GPS signals
Solution Approach 1:
The system prepares for potential GPS signal failures by maintaining an inertial measurement unit that can independently track vehicle position and orientation. The processor continuously fuses GPS data with inertial sensor data, so when GPS signals become insufficient or cause location jumps, the inertial system provides a cushioning effect that maintains continuous, smooth position tracking without abrupt jumps
Solution Approach 2:
The system implements feedback through continuous sensor fusion where the processor constantly compares GPS position updates with predictions from the inertial measurement system. When GPS signals are sufficient, the system corrects drift in the inertial system; when GPS signals are insufficient, the inertial system provides feedback to maintain accurate position tracking, preventing location jumps and ensuring consistent position information
Data Source
AI summary
Embodiments of the present disclosure are directed to systems and methods for determining a vehicle orientation. In one implementation, a computer-implemented method for determining a vehicle orientation may include receiving a first set of satellite signals associated with a connected device positioned relatively stationary with respect to a vehicle. The method may also include determining that the first set of satellite signals is insufficient to determine the vehicle orientation. The method may further include determining the vehicle orientation based on a first relative orientation of the connected device relative to the vehicle and a second relative orientation of the connected device relative to a reference object.