Method for correcting a previously estimated position of a vehicle

Patent metadata

Field	Value
Publication number	US-12066527-B2
Application number	US-201917287020-A
Country	US
Kind code	B2
Filing date	Oct 18, 2019
Priority date	Oct 22, 2018
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

Abstract

Disclosed is a method for resetting the estimated position of a vehicle, including: —a step of receiving by a RADAR system a real RADAR image, —a step of acquiring an estimated position of the vehicle, —a step of calculating by a computer equipping the vehicle a simulated RADAR image, as a function of the estimated position of the vehicle and of a cartographic model of the environment of the vehicle, —a step of comparing the real RADAR image and the simulated RADAR image, and —a step of correcting the estimated position of the vehicle as a function of the result of the comparison.

First claim

The invention claimed is:

1. A method for correcting the position of a vehicle, the method comprising:
a step of receiving, by the RADAR system installed on said vehicle, a real RADAR image;
a step of acquiring, by a computer installed on said vehicle, an estimated position of the vehicle;
a step of elaborating, by the computer, a simulated RADAR image as a function of the estimated position of the vehicle and of a cartographic model of the vehicle environment;
a step of comparing the real RADAR image and the simulated RADAR image; and
a step of correcting the estimated position of the vehicle as a function of a result of the comparing,
wherein the acquiring, elaborating, and comparing steps are repeated at successive time steps with different estimated positions of the vehicle,
wherein, at the correcting step during a first time step of the successive time steps, defining a pool of uncertainty corresponding to a zone in which the vehicle is located,
wherein, during a second time step of the successive time steps, the acquiring step is repeated using a plurality of estimated positions of the vehicle located within the pool of uncertainty, and
wherein, at the correcting step, the estimated position of the vehicle is corrected as a function of the results of the comparing steps.

2. The correction method according to claim 1 , wherein the comparing step comprises calculating several levels of correlation between the real RADAR image and the simulated RADAR image, by varying between each calculation at least one of the following parameters:
the relative direction angle between the real RADAR image and the simulated RADAR image,
the relative position between the real RADAR image and the simulated RADAR image,
the relative scale factor between the real RADAR image and the simulated RADAR image.

3. The correction method according to claim 1 , wherein each of the comparing steps comprises calculating at least one level of correlation between the real RADAR image and the simulated RADAR image, and
wherein, at the correcting step, the simulated RADAR image for which the calculated level of correlation is the highest is selected.

4. The correction method according to claim 1 , wherein the vehicle is a ship being on the sea.

5. The correction method according to claim 4 , wherein, at the elaborating step, the simulated RADAR image is also determined as a function of the state of the sea or the posture of the boat.

6. The correction method according to claim 4 , wherein, after the receiving step, determining when a sea coast is visible on the real RADAR image, and
wherein, when the sea coast is visible on the real RADAR image, the acquiring, elaborating, comparing, and correcting steps are automatically implemented by the computer.

7. The correction method according to claim 1 , wherein, at the acquiring step, the estimated position of the vehicle is obtained via an inertial unit installed on the vehicle.

8. The correction method according to claim 7 , wherein the estimated position of the vehicle is corrected in consideration of an error factor relating to one of:
an error of position determination by the inertial unit,
an error of reception of the RADAR system, and
an error of elaboration of the real RADAR image by the RADAR system.

9. The correction method according to claim 1 , wherein, at the correcting step, an inertial unit installed on the vehicle is reset as a function of the corrected estimated position of the vehicle.

10. The correction method according to claim 9 , wherein, at the elaborating step, an error linked to the accuracy of elaboration of the simulated RADAR image is determined, and
wherein, at the correcting step, the inertial unit is reset as a function of the determined error.

11. A vehicle comprising:
a RADAR system; and
a computer,
wherein the vehicle is configured to implement the correction method as defined in claim 1 .

12. A non-transitory computer-readable medium on which is stored a program that, when executed by a computer, performs the method of claim 1 .

13. The correction method according to claim 2 , wherein the vehicle is a ship being on the sea.

14. The correction method according to claim 3 , wherein the vehicle is a ship being on the sea.

Assignees

• Ixblue
• Exail

Inventors

• Hubert Jean-Michel
• De Becdelievre Hugues

Classifications

• G01C21/1652

  with ranging devices, e.g. LIDAR or RADAR · CPC title

• G01S13/937

  of marine craft · CPC title

• G01S13/89 Primary

  for mapping or imaging · CPC title

• G01S13/874

  Combination of several systems for attitude determination (in general G01C, control of attitude G05D1/49) · CPC title

• G01S13/605 Primary

  using a pattern, backscattered from the ground, to determine speed or drift by measuring the time required to cover a fixed distance · CPC title