Vehicle Positioning Device Using Sensor Correction

Solution Overview

Problem

Existing vehicle positioning technologies face challenges in maintaining positioning accuracy when satellite positioning signals are significantly deteriorated, such as in urban areas with multipath interference or mountainous regions with reduced satellite signal strength.

Innovation Solution

A vehicle positioning device that integrates satellite positioning data with terrestrial object and road line shape data, using sensors to correct sensor errors and perform inertial positioning, thereby maintaining accuracy even in adverse conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If satellite positioning is used for vehicle positioning, then positioning can be continued in indoor locations, but positioning accuracy cannot be maintained when satellite positioning signals are significantly deteriorated

Engineering Contradiction:

Improvepositioning availabilityVSAvoidpositioning accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent combines satellite positioning results with inertial positioning results through a filtering mechanism. The satellite positioning system provides absolute position references while the inertial system provides continuous high-frequency positioning data. By merging these two independent positioning systems, the device maintains positioning availability when satellites are captured while ensuring accuracy is maintained even when satellite signals are deteriorated through the use of corrected inertial data.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent implements a feedback mechanism where satellite positioning results are used to correct inertial sensor bias errors. The filtering circuitry continuously compares satellite positioning data with inertial positioning data, estimates sensor errors, and feeds back correction amounts to the inertial sensor correction circuitry. This feedback loop ensures that inertial sensor drift is corrected over time, maintaining positioning accuracy even when satellite signals are weak or multipath conditions exist.

Inventive Principle:

Principle #23Feedback

2Reliability

If inertial positioning is used to maintain positioning continuity, then positioning can be continued without satellite signals, but sensor errors accumulate over time

Engineering Contradiction:

Improvepositioning continuityVSAvoidpositioning accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The patent implements a feedback mechanism where satellite positioning results are used to correct inertial sensor bias errors. The filtering circuitry continuously compares satellite positioning data with inertial positioning data, estimates sensor errors, and feeds back correction amounts to the inertial sensor correction circuitry. This feedback loop ensures that inertial sensor drift is corrected over time, maintaining positioning accuracy even when satellite signals are weak or multipath conditions exist.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system uses its own satellite positioning capability to service and correct its inertial positioning system. By periodically capturing satellite signals when available, the system automatically recalibrates its inertial sensors without external intervention, correcting accumulated errors and maintaining long-term positioning accuracy for continuous operation.

Inventive Principle:

Principle #25Self-service

3Measurement precision

If multiple sensors are integrated to improve positioning robustness, then positioning accuracy is maintained in adverse conditions, but device complexity increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent designs a filtering circuitry that handles multiple data sources (satellite positioning data and inertial sensor data) through a unified processing framework. The same filtering mechanism performs both positioning fusion and sensor error correction functions, making the system multi-functional. This universal approach allows the device to maintain positioning accuracy across different environments (outdoor, indoor, urban canyons) without requiring completely separate processing systems for each function.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS11874117B2Vehicle positioning device

Publication Date: 2024.01.16 MITSUBISHI ELECTRIC CORP

AI summary

The present invention is related to a vehicle positioning device being connected to a first sensor outputting satellite positioning data, and a second sensor detecting a state amount of a vehicle and outputting the state amount as state amount data, and being connected to at least one of a third sensor detecting a terrestrial object and outputting data of a relative relationship between the terrestrial object and the vehicle, and a fourth sensor detecting a road line shape and outputting road line shape data. The vehicle positioning device includes: observed value processing circuitry configured to generate an actual observed value; sensor correction circuitry; inertial positioning circuitry; and observed value prediction circuitry configured to predict an observed value and output the observed value as a predicted observed value. Positioning calculation is performed by using the predicted observed value and the actual observed value and results are output as positioning results.