Title :
Doppler radar and MEMS gyro augmented DGPS for large vehicle navigation
Author :
Parviainen, Jussi ; Kirkko-Jaakkola, Martti ; Davidson, Pavel ; López, Manuel A Vázquez ; Collin, Jussi
Author_Institution :
Dept. of Comput. Syst., Tampere Univ. of Technol., Tampere, Finland
Abstract :
This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. A ground speed Doppler radar and one MEMS gyroscope are used to augment differential GPS (DGPS) and provide accurate navigation during GPS outages. The goal is to maintain a position accuracy of 2 meters or better for 15 seconds when an accurate GPS solution is not available. The Doppler radar and gyro are calibrated when DGPS is available, and a loosely coupled Kalman filter gives an optimally tuned navigation solution. Field tests were carried out in a harbor environment using straddle carriers.
Keywords :
Doppler radar; Global Positioning System; Kalman filters; gyroscopes; radionavigation; road vehicles; DGPS; Doppler radar; Kalman filter; MEMS gyroscope; differential GPS; land vehicle navigation system; straddle carriers; time 15 s; Doppler radar; Global Positioning System; Sensors; Vehicles; Wheels;
Conference_Titel :
Localization and GNSS (ICL-GNSS), 2011 International Conference on
Conference_Location :
Tampere
Print_ISBN :
978-1-4577-0186-3
Electronic_ISBN :
978-1-4577-0187-0
DOI :
10.1109/ICL-GNSS.2011.5955285