Positioning an Autonomous Off-Road Vehicle by Using Fused DGPS and Inertial Navigation

Parametric Error Equations for Dead Reckoning Navigators used in Ground Vehicle Guidance and Control

“…(23) Note that in this analysis we do not have to assume that all of the radar error is in the lateral direction as was done in order to develop Equation (11). Again, an Euler integration of the sensor outputs results in: (24) Squaring and taking the expected value of the above equation results in: (25) Because the radar noise and heading errors are uncorrelated: (26) Knowing that the expected value of the square of the radar's noise is simply the covariance of the radar noise ( 2 v radar) and using the expected value for heading from Equation (20): (27) Simplifying the above equation results in the covariance of the lateral error growth: (28) The above equation results in the following approximation for the lateral error growth due to integration of the yaw gyroscope and radar noises: (29) The above estimate of the lateral error growth is due only to integration of the noise in the radar and gyroscope sensors, and only provides the correct estimation of the lateral error growth when the vehicle is not moving (average velocity is equal to zero). This is because the analysis assumes that both processes are zero mean.…”

“…Fiber Optic Gyros (FOGs) have been evaluated for dead reckoning navigation of an indoor robot [25] as well as land vehicle navigation [26]. Fusion of GPS and dead reckoning systems for autonomous land vehicles has also been studied [27,28]. More recently, researchers have empirically compared the deadreckoning accuracy of two different tactical grade IMUs [29].…”

“…(23) Note that in this analysis we do not have to assume that all of the radar error is in the lateral direction as was done in order to develop Equation (11). Again, an Euler integration of the sensor outputs results in: (24) Squaring and taking the expected value of the above equation results in: (25) Because the radar noise and heading errors are uncorrelated: (26) Knowing that the expected value of the square of the radar's noise is simply the covariance of the radar noise ( 2 v radar) and using the expected value for heading from Equation (20): (27) Simplifying the above equation results in the covariance of the lateral error growth:…”

Sensor noise model development of a longitudinal positioning system for AVCS

“…In our experiment, two dual-frequency GPS receivers were installed on the two cars respectively. Besides the error sources summarized above, there are also two practical problems with the GPS system used in AVCS (Grewal, 1996, Schonberg, 1996. One is that the signals from the satellites can be blocked by high buildings, tunnels, overpasses, etc.…”

Desenvolvimento de um plataforma robótica modular e multifuncional para aquisição de dados em agricultura de precisão

“…No sentido mais amplo, um veículo pode incluir navios, aviões, comboios de via férrea, veículos de esteiras e veículos com rodados (GILLESPIE, 1992 No entanto, outras referências utilizam o termo veículo termo off-road para indicar, além dos veículos de lazer, os veículos utilizados na construção, agricultura, mineração e florestal (SCHONBERG et al, 1996;GRANOT, 2002;GUO & ZHANG, 2002 O objetivo do modelo cinemático é deduzir um conjunto de equações que seja capaz de representar o posicionamento do robô em relação ao sistema de coordenadas inercial.…”