The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 05, 2014
Filed:
Jul. 19, 2011
William James Kellar, Dutton Park, AU;
William James Kellar, Dutton Park, AU;
Leica Geosystems AG, Heerbrugg, CH;
Abstract
An unambiguous heading direction is calculated to determine the forward/reverse state of a vehicle. A heading alignment error is determined at step, being the difference between a GNSS direction of motion and the unresolved IMU heading of the vehicle. The heading alignment error is adjusted by 180° to be within a predetermined range at step. The unresolved IMU heading of the vehicleis adjusted using the heading alignment error to determine an ambiguous error corrected IMU heading at step. Stepdetermines whether the ambiguous error corrected IMU heading is substantially in the true direction of the nose of the vehicle. The unambiguous heading direction is calculated at stepby offsetting the ambiguous error corrected IMU heading by 180 degrees if the ambiguous error corrected IMU heading is substantially opposite the true direction of the nose the vehicle of the vehicle. The forward/reverse state is determined by comparing the unambiguous heading direction with the GNSS direction of motion of the vehicle.