METHOD FOR EVALUATING NAVIGATION DATA OF GROUND VEHICLE USING PARAMETERS OF GEOMETRY AND ORIENTATION OF ROAD Russian patent published in 2021 - IPC G01C21/16 G01C21/28 

FIELD: navigation.

SUBSTANCE: invention relates to the method for evaluating the navigation data of a ground vehicle containing stages in which: inertial data calculated (100) by an inertial sensor is received, parameters of geometry and orientation of a passable road are received, data based on the parameters for obtaining navigation data including the movement of the vehicle relative to the road, measured in the direction (Zr, Yr) while the vehicle can move in this direction only in a limited interval without leaving the road, are integrated (106), the error in the obtained navigation data by solving a system of equations under the assumption that the deviation between the calculated displacement and the control displacement forms the error of moving the vehicle parallel to the direction, while the control displacement has a value less than or equal to the length of the specified interval is estimated (108), obtained navigation data based on the estimated error is corrected (110).

EFFECT: increased accuracy of ground vehicle positioning.

11 cl, 5 dwg