INTEGRITY MONITORING OF VEHICLE KINEMATIC STATES USING MAP-BASED, VISION NAVIGATION SYSTEMS

• Main Authors: BAGESHWAR, Vibhor L, ELGERSMA, Michael Ray
• Format: Patent
• Language: English; French; German
• Published: 08.02.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SURVEYING; TESTING; TRANSPORTING; VEHICLES IN GENERAL

A system for integrity monitoring comprises a processor onboard a vehicle, a terrain map database, vision sensors, and inertial sensors. Each vision sensor has an overlapping FOV with at least one other vision sensor. The processor performs integrity monitoring of kinematic states of the vehicle, and comprises a plurality of first level filter sets, each including multiple position PDF filters. A consistency monitor is coupled to each first level filter set. Second level filter sets, each including multiple position PDF filters and a navigation filter, are coupled to the consistency monitor, the map database, the vision sensors, and the inertial sensors. Consistency check modules are each coupled to a respective second level filter set. A third level fusion filter is coupled to each of the consistency check modules. An integrity monitor is coupled to the fusion filter and assures integrity of a final estimate of the vehicle kinematic state statistics.