UGV Trailer Position Estimation Using a Dynamic Base RTK System

Travis, William; Hodo, David W.; Bevly, David M.; Hung, John Y.

doi:10.2514/6.2008-7442

Cited by 2 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The DGPS technique discussed in this paper has the accuracy of customary real‐time kinematic (RTK) level solutions. This technique is known as the dynamic base real‐time kinematic (DRTK) algorithm and was developed by Auburn University . Many low‐cost GPS receivers only track the L1 signal; therefore, a single‐frequency (L1 only) DRTK method was also developed and executed for low‐cost implementation.…”

Section: Introductionmentioning

confidence: 99%

Radar probabilistic data association filter/DGPS fusion for target selection and relative range determination for a ground vehicle convoy

2019

View full text Add to dashboard Cite

As navigation systems are being developed, it is apparent that cost‐effective accurate and precise positioning is an imperative for both military and civilian ground vehicle guidance. As this need increases, navigation systems incorporating multiple sensors have been developed and relied upon in many navigation situations. In this work, radar and global positioning system (GPS) measurements are utilized in a multi‐sensor fusion scheme allowing for a robust ranging solution utilizing the accuracy of a differential GPS (DGPS) solution and higher update rate of the radar solution in a Kalman filter. A probabilistic data association filter (PDAF) is utilized to determine a weighted mean of the radar channels' solutions that fall within a validation region set in the algorithm. In this work, radar was used to track vehicles and not surrounding landmarks. This paper intends to evaluate the accuracy and availability of a GPS/radar fusion algorithm in vehicle convoying scenarios.

show abstract

Section: Introductionmentioning

confidence: 99%