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Positioning Quality Filter For The V2x Technologies
This provides methods and systems for V2X applications, such as forward collision warning, electronic emergency brake light, left turn assist, work zone warning, signal phase timing, and others, mainly relying on a GNSS positioning solution transmitted via the Dedicated Short-Range Communications (DSRC) to/from the roadside units and onboard units in other V2X-enabled vehicles. However, the positioning solution from a GNSS may be deteriorated by noise and/or bias due to various error sources, e.g., time delay, atmospheric effect, ephemeris effect, and multipath effect. This offers a novel quality filter that can detect noise and the onset of drift in GNSS signals by evaluating up to four metrics that compare the qualities of kinematic variables, speed, heading angle change, curvature, and lateral displacement, obtained directly or derived from GNSS and onboard vehicle sensors. This is used for autonomous cars and vehicle safety, with various examples/variations.
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- Independent Claim 1. A method for positioning quality filter for a global navigation system for a vehicle, said method comprising: a central computer receiving global positioning systemlocation datasaid central computer receiving sensors data from vehicle sensorssaid sensors data from said vehicle sensors comprises data from a vehicle speed sensor, a vehicle direction sensor, and a vehicle yaw rate sensor on said vehiclesaidcentral computer calculating a first metric value based on said sensors data from said vehicle sensors, based on said vehicle speed, said vehicle direction, and said vehicle yaw ratea processor receiving a first thresholdsaid processor comparingsaid first metric value with said first thresholdafter determining that said first metric value is larger than or equal to said first threshold, said processor receiving a second thresholda) said central computer calculating a second metric valueb) said processor comparing said second metric value with said second thresholdc) after determining that said second metric value is smaller than said second threshold, said processor receiving a third thresholda. said central computer calculatinga third metric valueb. said processor comparing said third metric value with said third thresholdc. after determining that said third metric value is larger than or equal to said third threshold, said processor receiving a fourth thresholda.said central computer calculating a fourth metric valueb. said processor comparing said fourth metric value with said fourth thresholdc. after determining that said fourth metric value is smaller than said fourth threshold, said processor settingsaid global navigation system value as validsaid central computer validating said global positioning system location data 9 using said global navigation system value, for safety, operation, or navigation of said vehiclesaid central computer sendinga notice to a vehicle warning devicesaid central computer correcting a navigation of said vehiclesaid central computer adjusting direction of said vehicle.