{
  "$type": "site.standard.document",
  "description": "For improving performance of vehicle navigation on the basis of satellite positioning data, the satellite positioning data are combined with vehicle sensor data. This is accomplished by using a Kalman filter (40). The Kalman filter (40) comprises a first filter (42) receiving the satellite…",
  "path": "/patents/993000",
  "publishedAt": "2013-02-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/28",
    "HARMAN BECKER AUTOMOTIVE SYS [DE]"
  ],
  "textContent": "For improving performance of vehicle navigation on the basis of satellite positioning data, the satellite positioning data are combined with vehicle sensor data. This is accomplished by using a Kalman filter (40). The Kalman filter (40) comprises a first filter (42) receiving the satellite positioning data, a filter (44) for receiving the vehicle sensor data. The first filter (42) generates a first state vector estimate of the vehicle and a corresponding first state error covariance matrix. The second filter (44) generates a second state vector estimate of the vehicle and a corresponding second state error covariance matrix. The third filter (46) receives the first state vector estimate, the first state error covariance matrix, the second state vector estimate, and the second state error covariance matrix from the first and second filters (42, 44) and generates a combined state vector estimate and a corresponding combined state error covariance matrix therefrom. Further, the third filter (46) comprises a prediction processor (48) which generates a predicted state vector estimate and a predicted state error covariance matrix from the combined state vector estimate and a the combined state error covariance matrix. The predicted state vector estimate and the predicted state error covariance matrix are fed back to the first filter (42), to the second filter (44), and to the third filter (46).",
  "title": "Vehicle navigation on the basis of satellite positioning data and vehicle sensor data"
}