Title :
A Kalman filter model for GPS navigation of land vehicles
Author :
Cooper, Simon ; Durrant-Whyte, Hugh
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
This paper describes the development of an extended Kalman filter model for autonomous ground vehicle navigation using integrated civilian-band GPS position measurements and inertial navigation information. The Kalman filter model incorporates a detailed statistical model of all major GPS errors including those associated with selective availability (SA) range errors. The resulting model consists of 14 states. Data showing the accuracy of this filter is presented
Keywords :
Global Positioning System; Kalman filters; computerised navigation; navigation; vehicles; GPS navigation; autonomous ground vehicle navigation; extended Kalman filter model; inertial navigation information; integrated civilian-band GPS position measurements; land vehicles; selective availability range errors; statistical model; Clocks; Filters; Frequency; Global Positioning System; Inertial navigation; Land vehicles; Military satellites; Robots; Satellite navigation systems; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407396
