Disclosed are a vehicle navigation guidance system and a vehicle. The system includes: a navigation controller, a steering angle sensor, a motor steering controller and a display controller. The steering angle sensor is communicatively connected to the navigation controller, and is configured to acquire rotational angular velocity information of a wheel relative to a vehicle body, and output the angular velocity information to the navigation controller. The navigation controller is configured to output navigation guidance information according to positioning information and the angular velocity information, where the navigation controller includes a first positioning device, and the first positioning device is configured to acquire the positioning information. The motor steering controller is communicatively connected to the navigation controller, and is configured to perform steering control according to the navigation guidance information. The display controller is communicatively connected to the navigation controller, and is configured to display the navigation guidance information.

A method of determining a position and orientation of an object including providing a first radio frequency (RF) device having a first constellation of antennae including at least two receiving antennae and at least one transmitting antenna, and a first radio unit in communication with the first constellation of antennae, providing a second RF device having a second constellation of antennae including at least three receiving antennae and at least one transmitting antenna, a second radio unit in communication with the second constellation of antennae, and a processor in communication with the second radio unit and the second constellation of antennae. The method further determines a three-dimensional position and three-axis angular orientation of the first RF device relative to the second RF device based on calculating a carrier phase difference (CPD) measurement based on signals received from the second RF device between each discrete pair of receiving antennae of the at least three receiver antennae of the second RF device.

A method of determining a position and orientation of an object including providing a first radio frequency (RF) device having a first constellation of antennae including at least two receiving antennae and at least one transmitting antenna, and a first radio unit in communication with the first constellation of antennae, providing a second RF device having a second constellation of antennae including at least three receiving antennae and at least one transmitting antenna, a second radio unit in communication with the second constellation of antennae, and a processor in communication with the second radio unit and the second constellation of antennae. The method further determines a three-dimensional position and three-axis angular orientation of the first RF device relative to the second RF device based on calculating a carrier phase difference (CPD) measurement based on signals received from the second RF device between each discrete pair of receiving antennae of the at least three receiver antennae of the second RF device.

A method for assisting the navigation of a fleet of vehicles including main vehicle and a secondary vehicle movable relative to the main vehicle includes receiving data acquired by one or more sensors, the received data including relative kinematic data between the main vehicle and the secondary vehicle, and estimating a navigation state of the fleet of vehicles by an invariant Kalman filter using the received data as observations. The navigation state includes first variables representative of a first rigid transformation linking a frame attached to the main vehicle to a reference frame, and second variables representative of a second rigid transformation linking the frame attached to the main vehicle to a frame attached to the secondary vehicle. The invariant Kalman filter uses as binary operation an operation including a term-by-term composition of the first rigid transformation and of the second rigid transformation.

A method for assisting the navigation of a fleet of vehicles including main vehicle and a secondary vehicle movable relative to the main vehicle includes receiving data acquired by one or more sensors, the received data including relative kinematic data between the main vehicle and the secondary vehicle, and estimating a navigation state of the fleet of vehicles by an invariant Kalman filter using the received data as observations. The navigation state includes first variables representative of a first rigid transformation linking a frame attached to the main vehicle to a reference frame, and second variables representative of a second rigid transformation linking the frame attached to the main vehicle to a frame attached to the secondary vehicle. The invariant Kalman filter uses as binary operation an operation including a term-by-term composition of the first rigid transformation and of the second rigid transformation.

A positioning method includes: receiving a positioning signal at a receiver from a positioning satellite; determining an angle of arrival of the positioning signal relative to the receiver; applying a phase correction to the positioning signal, based on the angle of arrival, to produce a phase-corrected signal; and determining a location of the receiver using the phase-corrected signal.

A positioning method includes: receiving a positioning signal at a receiver from a positioning satellite; determining an angle of arrival of the positioning signal relative to the receiver; applying a phase correction to the positioning signal, based on the angle of arrival, to produce a phase-corrected signal; and determining a location of the receiver using the phase-corrected signal.

The purpose is to easily achieve verification of an integrated attitude angle based on an inertial sensor. An attitude angle calculating device may include an integrated attitude angle calculating module, a reverse-calculated value calculating module, a reference value calculating module, and a determining module. The integrated attitude angle calculating module may calculate an integrated attitude angle using an output of the inertial sensor and a positioning signal. The reverse-calculated value calculating module may reverse calculate, using the integrated attitude angle, a physical quantity obtained based on the positioning signal that is used for calculating the integrated attitude angle. The reference value calculating module may calculate a reference physical quantity corresponding to the reverse-calculated physical quantity, based on an observation value of the positioning signal. The determining module may determine whether to reset the calculation of the integrated attitude angle by using the reverse-calculated physical quantity and the reference physical quantity.

The purpose is to easily achieve verification of an integrated attitude angle based on an inertial sensor. An attitude angle calculating device may include an integrated attitude angle calculating module, a reverse-calculated value calculating module, a reference value calculating module, and a determining module. The integrated attitude angle calculating module may calculate an integrated attitude angle using an output of the inertial sensor and a positioning signal. The reverse-calculated value calculating module may reverse calculate, using the integrated attitude angle, a physical quantity obtained based on the positioning signal that is used for calculating the integrated attitude angle. The reference value calculating module may calculate a reference physical quantity corresponding to the reverse-calculated physical quantity, based on an observation value of the positioning signal. The determining module may determine whether to reset the calculation of the integrated attitude angle by using the reverse-calculated physical quantity and the reference physical quantity.

An oscillation observation device includes a first receiver and processing circuitry. The first receiver is configured to measure carrier phases of positioning signal. The processing circuitry is configured to calculate a velocity of an object by using an amount of change in the carrier phases measured by the first receiver, and calculate an amount of oscillation of the object in a translational direction using the velocity.