| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 141 | Apparatus and method for autonomous vehicle navigation using absolute data | US431594 | 1995-05-01 | US5956250A | 1999-09-21 | Adam J. Gudat; Dong Hun Shin; William L. Whittaker; Karl W. Kleimenhagen; Richard G. Clow; Sanjiv J. Singh; Dana A. Christensen; Carl A. Kemner; Walter J. Bradbury; Craig L. Koehrsen; Christos T. Kyrtsos; Norman K. Lay; Joel L. Peterson; Larry E. Schmidt; Darrell E. Stafford; Louis J. Weinbeck; Lonnie J. Devier |
| A system and method for controlling the navigation of surface based vehicle uses a route that is obtained by manually driving the vehicle over the route to collect data defining the absolute position of the vehicle at various positions along the route. The collected data is smoothed to provide a consistent route to be followed. The smoothed data is subsequently used to automatically guide the vehicle over the route. | ||||||
| 142 | Navigation and positioning system and method using uncoordinated becon signals | US614093 | 1996-03-12 | US5689270A | 1997-11-18 | David C. Kelley; Joseph Cisneros; Louis A. Greenbaum |
| A positioning system uses a multiplicity of commercial broadcast stereo FM radio signal transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters. All the beacon signals have a frequency approximately equal to a 19 KHz. A fixed position observer unit, positioned at a known location, receives the beacon signals from all the transmitters in the vicinity, determines their relative phases, and broadcasts data representing these relative phases. Mobile units, at unknown locations, receive these broadcast values, as well as beacon signals from at least three radio transmitters. Each mobile unit includes phase detection circuitry that detects the phases of the beacon signals at the mobile receivers current position. This is accomplished using a single radio signal receiver. A digital phase-locked loop, coupled to the radio signal receiver, generates a phase error signal for each beacon signal. The phase error signals are then used to compute a distinct phase value for each beacon signal. In the preferred embodiment, each mobile receiver includes a computer for computing its location based on the broadcast relative phase values and the detected phases. In yet another embodiment a common timing signal is provided to the fixed observer unit and to the mobile units in order to establish a common time basis throughout the positioning system, thereby facilitating determination of an initial position for each mobile unit. | ||||||
| 143 | System and method for enabling an autonomous vehicle to track a desired path | US432563 | 1995-05-01 | US5684696A | 1997-11-04 | Prithvi N. Rao; Dong Hun Shin; William L. Whittaker; Karl W. Kleimenhagen; Sanjiv J. Singh; Carl A. Kemner; Walter J. Bradbury; Craig L. Koehrsen; Joel L. Peterson; Larry E. Schmidt; Lonnie J. Devier |
| A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial. | ||||||
| 144 | Outdoor movie camera GPS-position and time code data-logging for special effects production | US380959 | 1995-01-31 | US5642285A | 1997-06-24 | Arthur N. Woo; David S. Sprague |
| A GPS navigation receiver with a data output port for communicating a position estimate frame-by-frame and time codes in SMPTE format. The conventional date and time sentence output of the GPS navigation receiver is combined with a highly-accurate one pulse-per-second (.+-.one microsecond) to form a time-keeping base for the time code output. A data-logger records the position estimates with their corresponding time in time code format frame-by-frame in a database. The recorded position estimates are then used in special-effects post-production to direct the special-effects animation, modeling kinetics, etc., in a composite, final film or video. | ||||||
| 145 | System and method for using parabolic models to improve position estimates from a global positioning system | US457960 | 1995-06-01 | US5629855A | 1997-05-13 | Christos T. Kyrtsos; James W. Sennott; Adam J. Gudat; Dana A. Christensen; Douglas W. Friedrich; Darrell E. Stafford |
| Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate. | ||||||
| 146 | Accurate position measuring system | US414588 | 1995-03-31 | US5617100A | 1997-04-01 | Masami Akiyoshi; Yuji Mitsunaga |
| An accurate position measuring system includes a communication satellite, a position measuring satellite, a position reference station, a network management station and a position measuring device. The communication satellite performs data communication. The position measuring satellite transmits position measurement data necessary for a position measurement calculation. The position reference station receives the position measurement data from the position measuring satellite and calculates positional error information. The calculated positional error information is transmitted to a network management station. The network management station collects the positional error information transmitted from the position reference station and transmits the collected positional error information to the communication satellite. The position measuring device receives the position measurement data from the position measuring satellite and calculates its current position. The position measuring device further receives the positional error information transmitted from the network management station through the communication satellite and corrects the calculated position information by means of the received positional error information. | ||||||
| 147 | Apparatus and method for autonomous vehicle navigation using path data | US431815 | 1995-05-01 | US5615116A | 1997-03-25 | Adam J. Gudat; Prithvi N. Rao; Gary K. Shaffer; WenFan Shi; Dong H. Shin; William L. Whittaker; Karl W. Kleimenhagen; Jay H. West; Richard G. Clow; Sanjiv J. Singh; Dana A. Christensen; Carl A. Kemner; Walter J. Bradbury; Craig L. Koehrsen; Christos T. Kyrtsos; Norman K. Lay; Joel L. Peterson; Larry E. Schmidt; Darrell E. Stafford; Louis J. Weinbeck; Lonnie J. Devier |
| An apparatus and method for navigating a vehicle along a predetermined route use route data and path data to define the predetermined route. The route data represents one or more contiguous path segments between adjacent nodes along the predetermined route. The path data includes postures of the vehicle along each of the path segments. The postures define the desired position, heading, curvature and speed of vehicle at various locations along the path segments. The apparatus and method use the posture information to generate and track a path thereby allowing the vehicle to navigate along the predetermined route. | ||||||
| 148 | Integrated vehicle positioning and navigation system, apparatus and method | US487980 | 1990-02-05 | US5610815A | 1997-03-11 | Adam J. Gudat; Walter J. Bradbury; Dana A. Christensen; Richard G. Clow; Lonnie J. Devier; Carl A. Kemner; Karl W. Kleimenhagen; Craig L. Koehrsen; Christos T. Kyrtsos; Norman K. Lay; Joel L. Peterson; Prithvi N. Rao; Larry E. Schmidt; James W. Sennott; Gary K. Shaffer; Wenfan Shi; Dong H. Shin; Sanjiv J. Singh; Darrell E. Stafford; Louis J. Weinbeck; Jay H. West; William L. Whittaker; Baoxin Wu |
| A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910). | ||||||
| 149 | Differential ground station repeater | US400168 | 1995-03-07 | US5608393A | 1997-03-04 | Randolph G. Hartman |
| A differential ground station repeater in which a plurality of transmitters are utilized to relay information to an aircraft from a single ground station situated to receive satellite information and to transmit the satellite and other information to the plurality of correction transmitters in which the transmitters utilize a single frequency but transmit at different described sub-time slots so that the aircraft may utilize the signal of any of the transmitters it may be receiving signals. | ||||||
| 150 | Multi-tasked navigation system and method for an autonomous land based vehicle | US432247 | 1995-05-01 | US5548516A | 1996-08-20 | Adam J. Gudat; Prithvi N. Rao; Gary K. Shaffer; Wenfan Shi; Dong H. Shin; James W. Sennott; William L. Whittaker; Karl W. Kleimenhagen; Jay H. West; Richard G. Clow; Baoxin Wu; Sanjiv J. Singh; Dana A. Christensen; Carl A. Kemner; Walter J. Bradbury; Craig L. Koehrsen; Christos T. Kyrtsos; Norman K. Lay; Joel L. Peterson; Larry E. Schmidt; Darrell E. Stafford; Louis J. Weinbeck; Lonnie J. Devier |
| A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910). | ||||||
| 151 | Golf information and course mangement system | US236139 | 1994-05-02 | US5524081A | 1996-06-04 | Benjamin J. Paul |
| A golf information and management system utilizing the Global Positioning System, a satellite based, radio navigation system where clocks signals are transmitted. This satellite system provides at least four satellites (2) "in view" at all time. A golf cart (12) or player receives the signals from the four satellites, compares the clocked signals and an on-board computer reads the clocked signals and determines the position, in three dimension, of the receivers (velocity of the receivers is also available). There is a fixed base location (8) on the golf course that also receives the satellite signals and transmits a differential correction signal, via another channel, to the golf cart or player, where the computer determines the position of the cart or player to within a yard. The computer may be pre-loaded with golf course information, such as pin position, hazard positions, etc., where the computer via a graphical display (18) communicates to the player exact distances to the pre-loaded known physical features of the golf course, and displays information needed by the player to determine his next shot, including a video presentation of a golf pro's suggestions. In addition, the cart may communicate with the base station where the base station can track each cart or player on the course. With such information, detecting slow players to allow better course management, and also allows the base station to output information to a cart to show the players ahead so as not to hit into other groups and to send messages to carts to urge faster play to send out other type messages. | ||||||
| 152 | Vehicle position determination system and method | US19540 | 1993-02-18 | US5390125A | 1995-02-14 | James W. Sennott; Christos T. Kyrtsos; Adam J. Gudat; Dana A. Christensen; Douglas W. Friedrich; Darrell E. Stafford |
| Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate. | ||||||
| 153 | Vehicle position determination system and method | US19542 | 1993-02-18 | US5375059A | 1994-12-20 | Christos T. Kyrtsos; Adam J. Gudat; Dana A. Christensen; Douglas W. Friedrich; Darrell E. Stafford |
| Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate. | ||||||
| 154 | Navigation and positioning system and method using uncoordinated beacon signals | US994670 | 1992-12-22 | US5280295A | 1994-01-18 | David C. Kelley; David T. Rackley; Victor P. Berglund |
| A positioning system uses a multiplicity of commercial broadcast stereo FM radio signal transmitters, at known fixed locations, each of which transmits a beacon signal having a phase that is un-synchronized with the phases of the beacon signals of the other transmitters. All the beacon signals have a frequency approximately equal to a 19 KHz. A fixed position observer unit, positioned at a known location, receives the beacon signals from all the transmitters in the vicinity, determines their relative phases, and broadcasts data representing these relative phases. Mobile units, at unknown locations, receive these broadcast values, as well as beacon signals from at least three radio transmitters. Each mobile unit includes phase detection circuitry that detects the phases of the beacon signals at the mobile receiver's current position. This is accomplished using a single radio signal receiver. A digital phase-locked loop, coupled to the radio signal receiver, generates a phase error signal for each beacon signal. The phase error signals are then used to compute a distinct phase value for each beacon signal. In the preferred embodiment, each mobile receiver includes a computer for computing its location based on the broadcast relative phase values and the detected phases. In another embodiment the position computations for many mobile receivers are performed at a central data processing station. | ||||||
| 155 | 차량 위치 보정 제어 장치와 이를 구비하는 차량 위치 보정 시스템 및 방법 | KR1020130144474 | 2013-11-26 | KR1020150060260A | 2015-06-03 | 이정희 |
| 본발명은분할된영역내에서대표차량을선정하고 V2V 통신및 V2I 통신을통해수신된 DGPS 보정신호를이용하여대표차량부터자신의위치를보정하는차량위치보정시스템과방법및 차량위치보정제어장치를제안한다. 본발명에따른차량위치보정시스템은각 소영역에위치하는차량들중에서제1 대표차량을결정하는대표차량결정부; 및먼저 DGPS 보정값이제1 대표차량으로전송되도록제어하며, 이후 DGPS 보정값이제1 대표차량으로부터동일소영역내 나머지차량들로전송되도록제어하는데이터전송제어부를포함하는차량위치보정제어장치; 기지국또는다른소영역에위치한제2 대표차량으로부터 DGPS 보정값을수신하며, DGPS 보정값을기초로자신의위치를보정하는제1 대표차량; 및제1 대표차량으로부터수신된 DGPS 보정값을기초로자신의위치를보정하는나머지차량들을포함한다. | ||||||
| 156 | 포지셔닝 프로토콜 전송 | KR1020137001430 | 2011-06-17 | KR101450289B1 | 2014-10-13 | 와처,안드레아스케이.; 에지,스티븐윌리암 |
| 보안 사용자 플레인 위치(SUPL) 기반 서비스에서 위치 서버의 능력들과 일치하는 포지셔닝 프로토콜들을 선택하기 위한 기법들이 설명된다. SUPL 위치 플랫폼(SLP)은 SLP의 포지셔닝 프로토콜 능력들과 같은 SLP의 서비스 능력들을 송신한다. SLP는, 시작 메시지에서 또는 시작 메시지를 SUPL 인에이블된 단말(SET)로부터 수신한 이후, SLP의 SLP 능력들을 SET로 송신한다. SET는 포지셔닝 시작 메시지를 송신할 수 있고, SLP 및 SET는 SET에 대한 하나 또는 둘 이상의 포지션 추정치들을 결정하기 위해서 통신한다. SET는 SLP 서비스 능력들과 일치하는 포지셔닝 프로토콜 포지셔닝 메시지를 포지셔닝 시작 메시지에 포함할 수 있다.
|
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| 157 | 위성 항법 시스템 오차 보정, 차량 추적 및 객체 위치지점 찾기 | KR1020097027244 | 2008-05-27 | KR1020100039829A | 2010-04-16 | 탄,필립 |
| A method and computer program for determining an error factor for a differential global positioning system is disclosed as well as a method of tracking a vehicle. In determining the error factor, estimated positional data is transmitted from a GPS via GPRS to a server. Since the GPS signals are being transmitted from a vehicle travelling along a known route, i.e. a road or rail track, the data can be matched to the route and a correction factor calculated. The error factor is then transmitted to differential GPS devices. For vehicle tracking a global positioning system sends, via GPRS, data a regular intervals relating only to its position. | ||||||
| 158 | 실내외 겸용 전자 태그, 이를 이용한 위치추적 시스템 및방법 | KR1020080029459 | 2008-03-31 | KR1020090104168A | 2009-10-06 | 장기춘 |
| PURPOSE: An electronic tag using an RFID technique, an RTLS technique and a GPS and a location tracing system using the same are provided to supply an integrated location tracing solution by tracing the location in the GPS mode. CONSTITUTION: An electronic tag(300) includes an RFID module unit(310), an RTLS module unit(320), a GPS module unit, and a tag controller. The RFID module unit determines whether it is an outdoor the current location is an indoor through the communication with the RFID recognition unit. The RTLS module unit grasps the indoor location information through the radio communication with indoor reader in which an indoor is equipped as the RTLS mode. The tag controller controls the operation of the RTLS mode. | ||||||
| 159 | 이동 단말기의 위치 추정 장치 및 방법 | KR1020020047981 | 2002-08-14 | KR100876800B1 | 2009-01-07 | 김욱; 김학열; 김진원; 이장규 |
| 본 발명에서는 이동통신 시스템에서 사용되는 전파 측정을 통해 전파전달지연 오차를 직접 추정하고, GPS 신호를 혼용하거나 또는 이동통신 시스템에서만 사용되는 신호만으로 이동단말의 위치 오차를 줄일 수 있는 장치 및 방법을 제공한다. 본 발명에 따른 이동통신 시스템으로부터 이동단말의 위치를 추정하기 위한 장치는, 상기 이동통신 시스템으로부터 상기 이동단말의 위치 획득을 위한 위치 획득 신호를 수신하고, 상기 위치 획득 신호로부터 위치 신호를 획득하여 출력하는 위치 신호 획득부와, 상기 획득된 위치 신호를 이용하여 1차 위치 값을 계산하는 1차 위치 계산부와, 상기 획득된 위치 신호를 이용하여 전파지연 오차범위를 설정하는 전파지연 오차범위 설정부와, 상기 설정된 전파지연 오차범위와 상기 1차 위치 값을 이용하여 전파지연 오차 추정 값을 추정하는 전파지연 오차 추정부와, 상기 전파지연 오차 추정 값과 상기 1차 위치 값에 의해 2차 위치 값을 계산하여 상기 2차 위치 값을 상기 이동단말의 추정 위치로 출력하는 2차 위치 계산부를 포함한다. 위치 추정, 오차범위 설정, TOA, TDOA, AOA, GPS, 이동단말의 위치 추적. | ||||||
| 160 | 개략적인 위치 추정을 사용하여 로케이션을 결정하기 위한방법 및 장치 | KR1020087016452 | 2002-01-17 | KR1020080075220A | 2008-08-14 | 바야노스,알키누스; 가알,피터 |
| Corrections to a coarse position estimate of the pseudorange receiving device are made based upon knowledge of the amount of error present in inaccurate information (e.g., the old Almanac and/or Ephemeris) used to estimate the coarse position. | ||||||
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