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1. 发明授权

US5436840A Vehicle position uncertainty area correction method and apparatus therefor 失效
标题翻译：车辆位置不确定区域校正方法及其设备
公开(公告)号：US5436840A
公开(公告)日：1995-07-25
申请号：US26722
申请日：1993-03-05
申请人： Stella Lam , Elisha M. Kozikaro , Clyde B. Harris
发明人： Stella Lam , Elisha M. Kozikaro , Clyde B. Harris
IPC分类号： G01C21/30 , G06F165/00
CPC分类号： G01C21/30
摘要： In a preferred embodiment, a vehicle position uncertainty area correction method and a corresponding apparatus are detailed. This method is preferably executed on a hardware platform 400. This method includes provision of an initial position envelope (307) associated with a vehicle position. Then, a corrected position envelope (307"") is derived from the initial position envelope (307) and bounded within a predetermined fixed area (313, 315) surrounding an outermost pair (305, 309) of road segments. The outermost pair (305, 309) of road segments are extracted from a map database (415) positioned within boundaries delimited by the position envelope (307).
摘要翻译：在优选实施例中，详细描述了车辆位置不确定区域校正方法和相应的装置。该方法优选地在硬件平台400上执行。该方法包括提供与车辆位置相关联的初始位置包络（307）。然后，从初始位置包络（307）导出校正后的位置包络（307“”），并限定在围绕路段的最外侧对（305,309）的规定的固定区域（313,315）内。道路段的最外侧对（305,309）从位于由位置信封（307）界定的边界内的地图数据库（415）中提取。

2. 发明授权

US5402365A Differential odometer dynamic calibration method and apparatus therefor 失效
标题翻译：差分里程表动态校准方法及其设备
公开(公告)号：US5402365A
公开(公告)日：1995-03-28
申请号：US967328
申请日：1992-10-28
申请人： Elisha M. Kozikaro , Martin D. Ives
发明人： Elisha M. Kozikaro , Martin D. Ives
IPC分类号： G01C22/00 , G01C22/02 , G01C25/00
CPC分类号： G01C22/025 , G01C25/00
摘要： A differential odometer includes a left wheel sensor (503) coupled to a left wheel (103), and a right wheel sensor (513) coupled to a right wheel (105). The left wheel sensor (503) provides a left wheel pulse count (505) as the left wheel (103) rotates. A left wheel distance traversed is determined by a product of the left wheel pulse count and a left distance per pulse coefficient. The right wheel sensor (513) provides a right wheel pulse count (515) as the right wheel rotates. A right wheel distance traversed is determined by a product of the right wheel pulse count and a right distance per pulse coefficient. A vehicle heading (601'), and vehicle distance traversed (1201), are determined using the left wheel distance traversed and the right wheel distance traversed. A correction value (901, 1001) is provided corresponding to a measured relationship between the left wheel pulse count and the right wheel pulse count. Then a new left distance per pulse coefficient (1105), corresponding to the provided correction value (901, 1001), and a new right distance per pulse coefficient (1101), corresponding to the provided correction value (901, 1001) are provided. Then the left distance per pulse coefficient (605) is substituted with the new left distance per pulse coefficient (1105), and the right distance per pulse coefficient (609) with the new right distance per pulse coefficient (1101). This substitution causes calibration of the differential odometer, consistent with the provided correction value (901, 1001).
摘要翻译：差速里程表包括联接到左轮（103）的左轮传感器（503）和联接到右轮（105）的右轮传感器（513）。当左轮（103）旋转时，左轮传感器（503）提供左轮脉冲计数（505）。通过左轮脉冲计数和每个脉冲系数的左距离的乘积来确定所运行的左轮距离。当右轮旋转时，右轮传感器（513）提供右轮脉冲计数（515）。通过右轮脉冲计数和每个脉冲系数的右距离的乘积来确定所行驶的右轮距离。使用所行驶的左车轮距离和穿过的右车轮距离来确定车辆行驶路线（601'）和行驶距离（1201）。对应于左轮脉冲计数和右轮脉冲计数之间的测量关系提供校正值（901,1001）。然后，提供对应于所提供的校正值（901,1001）的与所提供的校正值（901,1001）相对应的每个脉冲系数（1105）的新的左距离和对应于所提供的校正值（901,1001）的新的每个脉冲系数（1101）的右右距离。然后每个脉冲系数（605）的左边距离用新的每个脉冲系数的左距离（1105）代替，并且每个脉冲系数的右边距离（609）与每个脉冲系数的新的右距离（1101）代替。这种替代将导致差分里程计的校准，与提供的校正值一致（901,1001）。

3. 发明授权

US5287295A Method and apparatus for calibrating an electronic compass to account for alignment errors in the compass windings 失效
标题翻译：用于校准电子罗盘以考虑罗盘绕组中的对准误差的方法和装置
公开(公告)号：US5287295A
公开(公告)日：1994-02-15
申请号：US707716
申请日：1991-05-30
申请人： Martin D. Ives , Elisha M. Kozikaro
发明人： Martin D. Ives , Elisha M. Kozikaro
IPC分类号： G01C17/38 , G01C25/00
CPC分类号： G01C17/38
摘要： An electronic compass (10) having at least two sense windings (11, 12) is mounted in a vehicle. The outputs (x(h), y(h)) of the windings are measured for a number of compass directions (headings). From this data an error difference angle (.phi.), from a nominal angle, which actually exists between the output windings is calculated. Preferably a look-up table (21, 39) is created relating actual compass heading (h) to measured sense winding outputs by utilizing the calculated error difference angle (.phi.). This table is then utilized for calculating actual compass heading based on actual measured sense winding outputs. The calculated error angle (.phi.) can also be used to calibrate the compass without creating a look-up table. The calibrated compass compensates for misalignment of the sense windings and provides a more accurate electronic compass without requiring creating a calibration table by orienting the compass in a very large number of exactly known directions.
摘要翻译：具有至少两个感测绕组（11,12）的电子罗盘（10）安装在车辆中。绕组的输出（x（h），y（h））测量多个罗盘方向（标题）。根据该数据计算实际存在于输出绕组之间的标称角度的误差角（（phi））。优选地，通过利用所计算的误差差角（（phi）），创建将实际罗盘航向（h）与测量的感测绕组输出相关联的查找表（21,39）。然后，该表用于基于实际测量的感测绕组输出来计算实际罗盘航向。计算的误差角（（phi））也可用于校准罗盘而不创建查找表。校准的罗盘补偿感测绕组的未对准，并提供更精确的电子罗盘，而不需要通过将罗盘定向在非常大数量的正确已知方向上来创建校准表。

4. 发明授权

US5058023A Vehicle position determining apparatus 失效
标题翻译：车辆位置确定装置
公开(公告)号：US5058023A
公开(公告)日：1991-10-15
申请号：US559814
申请日：1990-07-30
申请人： Elisha M. Kozikaro
发明人： Elisha M. Kozikaro
IPC分类号： G01C21/28
CPC分类号： G01C21/28
摘要： Vehicle position determining apparatus (10) uses dead reckoning to calculate new vehicle position and heading (A2, H2) based on prior position and heading (A1, H1). Computer (11) separately calculates heading changes (.DELTA.H.sub.od, .DELTA.H.sub.c) as measured by a pair of differential wheel sensors (16, 17) and a magnetic compass (15) and uses these heading changes to calculate assoicated lateral accelerations of the vehicle (LA.sub.od, LA.sub.c) over a time and/or distance interval (.DELTA.t, .DELTA.d). If calculated lateral acceleration, or rate of vehicle turn, exceeds a maximum predetermined limit value, and this is therefore indicative of unstable or improbable vehicle operation, heading change data which resulted in calculation of excessive lateral acceleration is probably erroneous and will not be substantially utilized to calculate new vehicle position and heading.
摘要翻译：车辆位置确定装置（10）根据先前的位置和航向（A1，H1），使用航位推算计算新的车辆位置和航向（A2，H2）。计算机（11）分别计算由一对差动轮传感器（16,17）和磁罗盘（15）测量的航向变化（DELTA Hod，DELTA Hc），并使用这些航向变化来计算车辆的不同侧向加速度 LAOD，LAc）超过一段时间和/或距离间隔（DELTA t，DELTA d）。如果计算出的横向加速度或车辆转弯速度超过最大预定极限值，因此这表示车辆运行不稳定或不太可能，导致计算过度横向加速度的航向变化数据可能是错误的，并且将不会被实质上利用计算新车辆的位置和航向。

5. 发明授权

US5156038A Calibration technique for a vehicle's differential odometer 失效
标题翻译：车辆差速里程表的校准技术
公开(公告)号：US5156038A
公开(公告)日：1992-10-20
申请号：US739035
申请日：1991-08-01
申请人： Elisha M. Kozikaro
发明人： Elisha M. Kozikaro
IPC分类号： G01C21/00 , G01C21/26 , G01C22/02 , G01C25/00
CPC分类号： G01C22/025 , G01C21/26
摘要： A method for calibrating a differential odometer in a vehicle (10) having a pair of wheels (14, 16) and a pair of associated wheel sensors (18, 24) which generate output pulses as their associated wheels rotate. The method includes driving the vehicle (10) around a path (12) in a first direction (counterclockwise or clockwise), measuring the vehicle's heading change (preferably 360 degrees), and counting the number of pulses generated by each wheel sensor (18, 24) while the path is traversed. Then the vehicle is driven around the same, or a different, path in the opposite direction, again measuring the vehicle's heading change, and counting the number of pulses generated by each wheel sensor (18, 24). The pulse counts, the measured heading changes, and the known distance between the vehicle's wheels, are used to calculate the distance traveled by each wheel per output pulse from its associated wheel sensor.
摘要翻译：一种用于校准具有一对轮（14,16）和一对相关联的轮传感器（18,24）的车辆（10）中的差分中心计数器的方法，其在相关联的轮子旋转时产生输出脉冲。该方法包括在第一方向（逆时针或顺时针）上围绕路径（12）驱动车辆（10），测量车辆的航向变化（优选360度），并且计算由每个车轮传感器（18）产生的脉冲数， 24）当路径被遍历时。然后，车辆沿相反方向围绕相同或不同的路径驱动，再次测量车辆的航向变化，并对由每个车轮传感器（18,24）产生的脉冲数进行计数。脉冲计数，测量的航向变化和车辆车轮之间的已知距离用于计算每个车轮每个输出脉冲从其相关的车轮传感器行驶的距离。

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