METHOD FOR POSITIONING MOVING VEHICLE Russian patent published in 2024 - IPC G01C21/10 

FIELD: vehicle positioning.

SUBSTANCE: invention can be used when controlling the vehicle in automatic control mode to determine its position and precise stop. The method of positioning the vehicle is that in real time, according to the data of a satellite navigation receiver, the control module of the vehicle determines the current coordinates of its location, checks their validity and, if they are invalid, transmits the results of measuring the distance of the vehicle to the reference infrastructure object to the computer installed on the vehicle according to the latest current coordinates of the vehicle location that meet the validity requirements, while simultaneously generating control signals to turn on the odometer and linear speed module installed on the vehicle. The measurement results of the odometer and the linear speed module meter are sent to the computer, which, based on their measurements using a robust filtering algorithm, estimates the current increment of the path and, by differentiation over time, the linear speed module, based on the results of estimating the current increment of the path based on the data of the digital path model and the latest valid coordinates location of the vehicle, the computer calculates the location of the vehicle and the distance to the reference object, which are transmitted to the control module simultaneously with the assessment of the linear speed module to develop motion control of the vehicle.

EFFECT: increasing the accuracy of estimating the position of a mobile vehicle when the GNSS signal is lost.

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