METHOD FOR DETERMINING THE SPEED OF GROUND VEHICLES Russian patent published in 2023 - IPC G01P3/486 G01C22/02 

FIELD: autonomous ground navigation.

SUBSTANCE: when measuring speed, two sensors are used: the main one is a mechanical one, and an additional one is a high-precision optoelectronic one. The mechanical speed sensor operates continuously and determines the time intervals in which speed measurements should be made by the optoelectronic meter. The measurement of the speed by an optoelectronic meter operating periodically is based on measuring the delay time when the light-sensitive elements receive signals reflected from the microrelief of the underlying surface (US) when they are illuminated by a mini-spotlight of a moving ground vehicle (GV) at a known distance between the light-sensitive elements of the meter. The optoelectronic meter has two light-sensitive matrices of a given size, which identify the US microrelief. When measuring the speed, images of photosensitive matrices are formed using the criterion of coincidence reliability of the signals of the first and second channels of the meters. The velocity is estimated in the absence of a priori information about the statistical characteristics of the coincidence microrelief, as well as the noise of the measuring equipment.

EFFECT: increased accuracy and reliability of determining the GV speed.

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