GROUND VEHICLE SPEED MEASUREMENT METHOD Russian patent published in 2023 - IPC G01C22/00 

FIELD: terrestrial navigation.

SUBSTANCE: invention relates to the field of terrestrial navigation and can be used in autonomous terrestrial navigation systems. The method for measuring the speed of a ground vehicle consists in the fact that the main speed meter (MSM) is continuously used and a periodic measurement with high accuracy is carried out by several channels of an additional speed meter (ASM), while based on the speed data from the SMS, it is calculated as the frequency of switching on the MSM, and the time interval between the measurements of the first and second measuring channel ASM. Additionally, a ASM is used, consisting of two measuring channels, each of which includes a matrix of sensitive elements; when determining the speed of movement with an additional speed meter, the areas of inhomogeneities are identified, first segmenting the digital image of the underlying surface, which is in the field of view of the matrix of sensitive elements of the current ASM channel, into digital images of inhomogeneities (DII) having closed boundaries. Then, forming an analytical description of the DII with the definition of their area by the width and height of the rectangle described around the DII and the coordinates of the center of each DII; after identification of areas of inhomogeneities on two ASM channels. Next, the search for the same areas of inhomogeneities identified by the first and second channels is carried out, and the parameters of digital images of all inhomogeneities found at one time are used to refine the scale factor of the main velocity meter.

EFFECT: increasing the accuracy and reliability of measuring the speed of a ground vehicle.

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