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1. 发明授权

US5343209A Navigation receiver with coupled signal-tracking channels 失效
标题翻译：具有耦合信号跟踪通道的导航接收器
公开(公告)号：US5343209A
公开(公告)日：1994-08-30
申请号：US880135
申请日：1992-05-07
申请人： James W. Sennott , David Senffner
发明人： James W. Sennott , David Senffner
IPC分类号： G01S5/14 , G01S19/05 , G01S19/11 , G01S19/21 , G01S19/29 , G01S19/42 , G01S19/43 , G01S19/46 , G01S19/53 , G01S19/54 , G01S5/02 , G01C21/00 , G01S1/08
CPC分类号： G01S19/53 , G01S19/42 , G01S19/43 , G01S19/54
摘要： The navigation receiver with coupled-tracking channels is intended for use in radio navigation systems based on trilateration wherein the times of arrival of radio signals transmitted by a plurality of ground- or space-based terminals are measured by a user terminal and utilized by the user terminal in calculating its position and orientation. The coupled-tracking navigation receiver periodically measures carrier phase, carrier frequency, modulation phase, and carrier amplitude for all of the signals arriving at the receiving ports of the receiver and periodically estimates the present values of carrier phase, carrier frequency, and modulation phase for all of the received signals, the estimating process utilizing for each parameter estimate the parameter measurements for a plurality of the received signals properly combined in a statistically appropriate manner by taking into account the relative geometry of the line-of-sight paths, receiver clock time dynamics, and dynamics and motion constraints of the receiver platform, thereby obtaining better performance under poor signal reception conditions and more accurate estimates of carrier phase, carrier frequency, and modulation phase for each of the received signals than independent measurements alone could provide. It follows that these more accurate estimates of the basic signal parameters lead to more accurate estimates of platform position and attitude and the rates of change of these quantities.
摘要翻译：具有耦合跟踪信道的导航接收机旨在用于基于三边测量的无线电导航系统，其中由多个基于地面或基于空间的终端发送的无线电信号的到达时间由用户终端测量并由用户使用终端计算其位置和方向。耦合跟踪导航接收机周期性地测量到达接收机的接收端口的所有信号的载波相位，载波频率，调制相位和载波幅度，并周期性地估计载波相位，载波频率和调制相位的当前值，所有接收的信号，用于每个参数的估计过程通过考虑视线路径的相对几何形状来估计接收到的信号的参数测量结果，以统计适当的方式合适地组合接收信号，接收器时钟时间动态和动态和运动约束，从而在不良信号接收条件下获得更好的性能，并且对于每个接收信号的载波相位，载波频率和调制相位的精确估计，可以单独提供独立的测量结果。因此，对基本信号参数的这些更准确的估计导致对平台位置和态度的更准确的估计以及这些量的变化率。

2. 发明授权

US4445118A Navigation system and method 失效
标题翻译：导航系统和方法
公开(公告)号：US4445118A
公开(公告)日：1984-04-24
申请号：US266253
申请日：1981-05-22
申请人： Ralph E. Taylor , James W. Sennott
发明人： Ralph E. Taylor , James W. Sennott
IPC分类号： G01S1/00 , G01S5/00 , G01S19/02 , H04B7/185
CPC分类号： G01S19/05 , G01S5/0027 , G01S5/0036
摘要： In a global positioning system (GPS), such as the NAVSTAR/GPS system, wherein the position coordinates of user terminals (14) are obtained by processing multiple signals transmitted by a constellation of orbiting satellites (16), an acquisition-aiding signal generated by an earth-based control station (12) is relayed to user terminals via a geostationary satellite (10) to simplify user equipment. The aiding signal is FSK modulated on a reference channel slightly offset from the standard GPS channel. The aiding signal identifies satellites in view having best geometry and includes Doppler prediction data as well as GPS satellite coordinates and identification data associated with user terminals within an area being served by the control station (12) and relay satellite (10). The aiding signal significantly reduces user equipment by simplifying spread spectrum signal demodulation and reducing data processing functions previously carried out at the user terminals (14).
摘要翻译：在诸如NAVSTAR / GPS系统的全球定位系统（GPS）中，其中通过处理由轨道卫星（16）的星座发送的多个信号来获得用户终端（14）的位置坐标，生成获取辅助信号由地球控制站（12）通过对地静止卫星（10）中继到用户终端，以简化用户设备。辅助信号在与标准GPS通道略微偏移的参考通道上进行FSK调制。辅助信号识别具有最佳几何形状的卫星，并且包括多普勒预测数据以及与由控制站（12）和中继卫星（10）服务的区域内的用户终端相关联的GPS卫星坐标和识别数据。辅助信号通过简化扩频信号解调并减少先前在用户终端（14）执行的数据处理功能，大大降低了用户设备。

3. 发明授权

US5390125A Vehicle position determination system and method 失效
公开(公告)号：US5390125A
公开(公告)日：1995-02-14
申请号：US19540
申请日：1993-02-18
申请人： James W. Sennott , Christos T. Kyrtsos , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
发明人： James W. Sennott , Christos T. Kyrtsos , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F19/00
CPC分类号： G01S19/47 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/20 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202 , Y02T10/84
摘要： 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.

4. 发明授权

US5610815A Integrated vehicle positioning and navigation system, apparatus and method 失效
标题翻译：综合车辆定位导航系统，装置及方法
公开(公告)号：US5610815A
公开(公告)日：1997-03-11
申请号：US487980
申请日：1990-02-05
申请人： 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
发明人： 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
IPC分类号： B60K31/00 , B60W30/14 , B60W50/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/0212 , G05D1/0223 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , B60W2050/0077 , B60W2550/402 , B60W30/143 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0257 , G05D1/0259 , G05D1/0268 , G05D2201/0202
摘要： 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).
摘要翻译： PCT No.PCT / US89 / 05580。 371 1990年2月5日第 102（e）1990年2月5日PCT PCT 1989年12月11日PCT公布。公开号WO91 / 09375 日期1991年6月27日用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

5. 发明授权

US5438517A Vehicle position determination system and method 失效
标题翻译：车辆位置确定系统及方法
公开(公告)号：US5438517A
公开(公告)日：1995-08-01
申请号：US19441
申请日：1993-02-18
申请人： James W. Sennott , Christos T. Kyrtsos , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
发明人： James W. Sennott , Christos T. Kyrtsos , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F19/00
CPC分类号： G01S19/47 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/20 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202 , Y02T10/84
摘要： 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.
摘要翻译：系统和方法可以实时准确地确定自主车辆的地面位置。车辆102的第一位置估计是从全球定位系统和/或伪卫星的卫星导出的。当卫星不在车辆视野中时，伪卫星可以专门使用。第二位置估计来自惯性参考单元和/或车辆里程表。第一和第二位置估计被组合并使用新技术进行滤波以得到车辆位置的更准确的第三位置估计。因此，可以使用第三位置估计来实现车辆的准确的自主导航。

6. 发明授权

US5838562A System and a method for enabling a vehicle to track a preset path 失效
标题翻译：系统和用于使车辆跟踪预设路径的方法
公开(公告)号：US5838562A
公开(公告)日：1998-11-17
申请号：US432248
申请日：1995-05-01
申请人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Carl A. Kemner , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong Hun Shin , James W. Sennott , William L. Whittaker , Jay H. West , Karl W. Kleimenhagen , Richard G. Clow , Baoxin Wu , Sanjiv J. Singh
发明人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Carl A. Kemner , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong Hun Shin , James W. Sennott , William L. Whittaker , Jay H. West , Karl W. Kleimenhagen , Richard G. Clow , Baoxin Wu , Sanjiv J. Singh
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： 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).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

7. 发明授权

US5629855A System and method for using parabolic models to improve position estimates from a global positioning system 失效
标题翻译：使用抛物线模型来改进全球定位系统的位置估计的系统和方法
公开(公告)号：US5629855A
公开(公告)日：1997-05-13
申请号：US457960
申请日：1995-06-01
申请人： Christos T. Kyrtsos , James W. Sennott , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
发明人： Christos T. Kyrtsos , James W. Sennott , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G01C21/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： 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.
摘要翻译：系统和方法可以实时准确地确定自主车辆的地面位置。车辆102的第一位置估计是从全球定位系统和/或伪卫星的卫星导出的。当卫星不在车辆视野中时，伪卫星可以专门使用。第二位置估计来自惯性参考单元和/或车辆里程表。第一和第二位置估计被组合并使用新技术进行滤波以得到车辆位置的更准确的第三位置估计。因此，可以使用第三位置估计来实现车辆的准确的自主导航。

8. 发明授权

US5548516A Multi-tasked navigation system and method for an autonomous land based vehicle 失效
标题翻译：一种基于自主地面车辆的多任务导航系统和方法
公开(公告)号：US5548516A
公开(公告)日：1996-08-20
申请号：US432247
申请日：1995-05-01
申请人： 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
发明人： 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
IPC分类号： G01S5/14 , G01S19/48 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G08G1/202 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/024 , G05D1/0272 , G05D1/0276 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S5/009
摘要： 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).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

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