Method for determining a corrected distance
View Patent ↗A method determines a corrected distance between a mobile transceiver fastened to a vehicle and a fixed transceiver. The method includes: identification, among a set of predetermined path segments, of the segment on which the vehicle is currently found on the basis of the last position determined for this vehicle, then selection of a correction function specifically associated with the identified segment using a table that associates, with each path segment, a respective correction function, then execution of the identified correction function to obtain a current correction coefficient for correcting a raw distance computed from transmission and reception times of the radio signals exchanged between the fixed and mobile transceivers, then correction of the last raw distance computed using the current correction coefficient to obtain the corrected distance.
1 . A method for determining a corrected distance between a mobile transceiver fastened to a vehicle and a fixed transceiver, said method comprising the following steps when the vehicle is moving along a path segment belonging to a countable set of a plurality of predetermined path segments:
exchanging, by the mobile transceiver, radio signals with a fixed transceiver,
acquisition, by an electronic computer, of transmission and reception times of the radio signals exchanged between the fixed and mobile transceivers,
computation, by the electronic computer, of a raw distance between the fixed and mobile transceivers solely from the acquired transmission and reception times of the exchanged radio signals, then
determination, by the electronic computer, of a position of the vehicle,
wherein the method comprises:
identification, among the set of predetermined path segments, of the predetermined segment on which the vehicle is currently found on the basis of the last position determined for said vehicle, then
selection of a correction function specifically associated with the identified segment using a table that associates, with each path segment, a respective correction function, each of these correction functions being able, when it is executed, to deliver a correction coefficient for correcting the raw distance, then
execution of the identified correction function to obtain a current correction coefficient, then
correction of the last raw distance computed using the current correction coefficient to obtain the corrected distance,
wherein the determination, by the electronic computer, of the position of the vehicle is based at least partially on the obtained corrected distance.
2 . The method according to claim 1 , wherein:
each correction function:
is parametrized by a first physical quantity so that the delivered correction coefficient varies as a function of a value of said first physical quantity even when the vehicle remains inside the same predetermined segment, said first physical quantity being chosen from a group made up:
of the distance between the fixed and mobile transceivers, and
of a physical quantity representative of the power of the received radio signals, and
is different from at least one of the other correction functions in that, for a given value of the first physical quantity, it delivers a different correction coefficient,
the method comprises obtaining the current value of the first physical quantity, and
the execution of the identified correction function comprises execution of the identified correction function parametrized with the obtained current value of the first physical quantity to obtain the current correction coefficient.
3 . The method according to claim 2 , wherein the first physical
quantity is the distance between the fixed and mobile transceivers.
4 . The method according to claim 2 , wherein the method
comprises a calibrating phase in which, for each predetermined path segment and
for various positions of the vehicle on said predetermined path segment:
a raw distance between the fixed and mobile transceivers is computed solely from the acquired transmission and reception times of the exchanged radio signals, and
for the same vehicle position, an accurate distance is measured using another sensor that allows a distance measurement that is more accurate than the raw distance to be obtained without using the acquired transmission and reception times of the exchanged radio signals, then
determination of the correction function that approximates the variation in the error between the computed raw distance and the measured accurate distance depending on the value of the first physical quantity, and
association of said correction function with said predetermined path segment.
5 . The method according to claim 1 , wherein each
correction function is defined by the following relationship:
f
sn
(
d
)
=
a
sn
·
d
d
0
,
sn
2
+
d
2
+
b
sn
where a sn , b sn and d 0,sn are three constants that entirely define the correction function, values of the constants a sn , b sn and d 0,sn minimize a difference between a precise distance measured without using a sensor and an error between the precise distance and the raw distance.
6 . The method according to claim 1 , wherein the radio signals
are ultra-wideband signals.
7 . The method according to claim 1 , further comprising:
acquisition, by the electronic computer, of a measurement of a second physical quantity that varies as a function of the position of the vehicle, said measurement being taken by a sensor independent of the fixed and mobile transceivers, then
determination, by the electronic computer, of the position of the vehicle from the acquired measurement of the second physical quantity and from the determined corrected distance.
8 . The method according to claim 7 , wherein the acquisition of a measurement of the second physical quantity comprises acquisition of a measurement chosen from the group made up:
of a first measurement of an acceleration of the vehicle, taken by an inertial navigation system, and
of a second measurement of the position or speed of the vehicle, taken by a satellite geolocation unit.
9 . The method according to claim 8 , wherein:
the acquisition of a measurement of the second physical quantity comprises:
acquisition of a third measurement of an angular velocity of the vehicle, taken by the inertial navigation system, and
the method in addition comprises determination, by the electronic computer, of the orientation of the vehicle from the acquired measurements of the acceleration and angular velocity of the vehicle and of the determined corrected distance.
10 . A system for determining a corrected distance between a mobile transceiver fastened to a vehicle and a fixed transceiver, said system comprising an electronic computer configured to execute the following steps when the vehicle is moving along a path segment belonging to a countable set of a plurality of predetermined path segments:
exchanging, by the mobile transceiver, radio signals with a fixed transceiver,
acquisition, by the electronic computer, of transmission and reception times of the radio signals exchanged between the fixed and mobile transceivers,
computation, by the electronic computer, of a raw distance between the fixed and mobile transceivers solely from the acquired transmission and reception times of the exchanged radio signals, then
determination, by the electronic computer, of a position of the vehicle,
wherein the electronic computer is also configured to execute the following operations:
identification, among the set of predetermined path segments, of the predetermined segment on which the vehicle is currently found from the last position determined for said vehicle, then
selection of a correction function specifically associated with the identified segment using a table that associates, with each segment of the path, a respective correction function, each of these correction functions being able, when it is executed, to deliver a correction coefficient for correcting the raw distance, then
execution of the identified correction function to obtain a current correction coefficient, then
correction of the last raw distance computed using the current correction coefficient to obtain the corrected distance,
wherein the determination, by the electronic computer, of the position of the vehicle is based at least partially on the obtained corrected distance.