Vehicle State Estimation with Staggered Dead Reckoning Resets
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Solution Overview
Problem
Existing positioning systems for autonomous or semi-autonomous vehicles are unreliable due to interference or hardware failures, leading to unsuitable positioning information for advanced driving levels.
Innovation Solution
Utilizing two separate dead reckoning modules with staggered resets and comparisons to a GNSS+IMU fused output to detect and correct errors in positioning data, ensuring reliable vehicle positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single GNSS+IMU fused positioning system is used, then the positioning data can be provided for autonomous driving, but the system becomes unreliable under interference or hardware failure conditions
Solution Approach 1:
The system divides the positioning function into multiple independent dead reckoning modules (first and second dead reckoning modules) that operate separately. Each module processes positioning data independently and can be reset at different intervals, ensuring that failure in one module does not compromise the entire positioning system.
Solution Approach 2:
The system performs preliminary error detection by comparing positioning data from multiple dead reckoning modules before final positioning output is generated. This allows the system to identify and correct errors in GNSS data before they affect autonomous driving operations.
2Measurement precision
If GNSS data is fused with IMU and sensor data, then positioning information can be determined, but the positioning information becomes unsuitable when GNSS data is corrupted
Solution Approach 1:
The system implements a feedback mechanism where positioning data from multiple dead reckoning modules is continuously compared. When corruption is detected in one module's data, the system uses feedback from the other module to identify and correct the error, ensuring reliable positioning output even when GNSS data is corrupted.
Solution Approach 2:
The dead reckoning modules serve as intermediaries between the GNSS+IMU fused output and the final positioning decision. By introducing these intermediate verification layers, the system can detect and correct corrupted GNSS data before it reaches the final positioning output.
3Reliability
If periodic resets are applied to dead reckoning modules, then positioning errors can be corrected, but error detection capability is reduced when resets occur at the same interval
Solution Approach 1:
The system applies asymmetric reset intervals to different dead reckoning modules. The first dead reckoning module is reset at a first interval while the second dead reckoning module is reset at a second interval that is offset from the first. This asymmetric timing creates staggered reset patterns that enhance the system's ability to detect positioning errors that occur between reset moments.
Data Source
AI summary
Systems and methods are provided for providing reliable positioning data for a vehicle. Satellite positioning data is determined using a satellite positioning module. Based on the satellite positioning data, a first dead reckoning module is periodically reset at a first interval and a first dead reckoning module is periodically reset at a second interval offset from the first interval. The satellite positioning data is compared to first dead reckoning positioning data of the first dead reckoning unit and to second dead reckoning positioning data of the second dead reckoning unit, and the satellite positioning data, the first dead reckoning positioning data, or the second dead reckoning positioning data is selected as a vehicle position based on the comparison.