A method of updating an all-attitude angle of an agricultural machine based on a nine-axis MEMS sensor includes the following steps: establishing an error model of a gyroscope, an electronic compass calibration ellipse model and a seven-dimensional EKF filtering model, and setting a parameter vector corresponding to a vehicle motional attitude (S1); acquiring data including an acceleration and an angular velocity of a motion of vehicle, and an geomagnetic field intensity in real time (S2); calculating an angle, a velocity, position information, and a course angle of the vehicle by established error model of the gyroscope and the electronic compass calibration ellipse model(S3); data-fusion processing the angle, the velocity, the position information and the course angle of the vehicle by the seven-dimensional EKF filtering model, and updating a motional attitude angle of the vehicle in real time. The steps of the method have a small error, high precision, and reliability.

An RF position tracking system for wirelessly tracking the three-dimensional position of a tracked object. The tracked object has at least one mobile antenna and at least one inertial sensor. The system uses a plurality of base antennas which communicate with the mobile antenna using radio signals. The tracked object also incorporates the inertial sensor to improve position stability by allowing the system to compare position data from radio signals to data provided by the inertial sensor.

The present invention relates to a method for estimating a relative angle (θ) between heading (X.sub.10) of a person (10) and heading (X.sub.12) of a mobile device (12) carried by the person, which method comprises: determining a first estimate of the relative angle using a multi-axis accelerometer (18) of the mobile device; determining a second estimate of the relative angle using a multi-axis gyroscope (20) of the mobile device; and combining the first estimate and the second estimate to a combined estimate of the relative angle (θ) between the person's heading and the mobile device's heading. The present invention also relates to a system for estimating a relative angle (θ) between heading (X.sub.10) of a person (10) and heading (X.sub.12) of a mobile device (12) carried by the person.

A system includes a scouting vehicle. The scouting vehicle includes a spatial location system configured to derive a geographic position of the scouting vehicle. The scouting vehicle further includes a computing device communicatively coupled to the spatial location system and to a communication system, the computing device comprising a processor configured to create a shape on a map based on a drive of the scouting vehicle. The scouting vehicle also includes the communication system configured to transmit the geographic position, a recording of the drive, the shape, or a combination thereof, to a base station.

Systems, methods, devices and computer-readable storage mediums are disclosed for correcting a compass view using map data. In an implementation, a method comprises: receiving, by one or more sensors of a mobile device, sensor data; determining, by a processor of the mobile device, compass offset data for a compass view based on the sensor data and map data; determining, by the processor, a corrected compass view based on the compass offset data; and presenting, by the processor, the corrected compass view.

Systems, methods, and apparatuses for a self-locating compass for use in navigation are disclosed. The self-locating compass is operable to provide position and/or velocity without information from a global positioning system (GPS) device. The self-locating compass includes a direction finder and a Lorentz force detector. The method includes determining orientation with respect to Earth's magnetic field, measuring a Lorentz force proportional to rate of change of location with respect to the field, determining a change in location, and updating location.

A wireless positioning system is provided which includes a point information transmitter and a wireless positioning terminal carried by a user to communicate wirelessly with the point information transmitter. The point information transmitter is installed at a predetermined installation position and transmits point information including at least magnetic correction information to correct a geomagnetic bias at the installation position. The wireless positioning terminal includes an orientation detector to detect an orientation based on geomagnetism and a correction section to correct the orientation detected by the orientation detector based on the magnetic correction information included in the point information received from the point information transmitter.

The present invention reduces an arithmetic operation amount for updating a state vector. The attitude estimating device includes (i) a gravitational direction estimating section for updating, by using an acceleration vector as an observation, a gravitational direction vector predicted from an angular velocity vector, (ii) a horizontal direction estimating section for updating, by using a magnetic vector as an observation, a horizontal direction vector predicted from the angular velocity vector, and an attitude estimating section for generating attitude information with use of the gravitational direction vector and the horizontal direction vector.

A system corrects errors of a measurement system. The system comprises base measurement system BS and a correction system. BS sensor data is acquired and provided to an algorithm. The data is stored associated with a time stamp indicating time of sensing. Output values are calculated and stored with time stamps indicating time of the sensor data upon which the output values are calculated. Data having corresponding time stamps are supplied to a filter where correction values and correction increments are calculated. The correction increments reflect the change of error in a base system output value over time due to integration or summing up BS sensor data errors in the processing algorithm. The correction values are applied to the BS data and corrected base navigation output values are calculated. These output values are corrected by the correction increments. Output values of the processing algorithm are further processed in succeeding applications.

Disclosed are provided a navigation device or a method for overlaying a travel route, in which the position of other vehicles located on the travel route is considered, on an image obtained from a front-view camera, wherein a navigation device includes: a display device configured to display an image acquired from a front-view camera of a vehicle, to overlay a travel route on the displayed image, and to display the overlaid resultant image; and a processor configured to determine a travel route starting from a position of the vehicle acting as an ego vehicle, when a peripheral vehicle is located at the determined travel route, to determine a travel route along which the ego vehicle dodges or follows the peripheral vehicle on the basis of the position of the peripheral vehicle, and to display the determined travel route on the display unit.