Title :
Integrated INU/DGPS for autonomous vehicle navigation
Author :
Rogers, Robert M. ; Wit, Jeffrey S. ; Crane, Carl D., III ; Armstrong, David G., II
Author_Institution :
Rogers Eng. & Associates, Gainesville, FL, USA
Abstract :
An integrated navigation system, combining an inertial navigation unit (INU) and a differential global positioning system (DGPS), is described and performance results are presented for the Kawasaki MULE test vehicle for autonomous vehicle application. Continuous real-time navigation data is required to provide this autonomous vehicle with high-rate data for following a pre-computed path. The US Army/Honeywell modular azimuth position system (MAPS) INU and a pair of Ashtech Z-12 stand-alone GPS receiver units, operated in a differential mode, are elements of the navigation system. Their integration is via a navigation Kalman filter implemented in an external VME computer. The navigation filter´s design objectives are included. Test results show a real-time high rate positioning accuracy that is generally within ½ meter compared to post-processed DGPS positions
Keywords :
Global Positioning System; Kalman filters; inertial navigation; intelligent control; position control; radionavigation; real-time systems; road vehicles; Ashtech Z-12 GPS receiver; Kalman filter; Kawasaki MULE test vehicle; MAPS data; US Army/Honeywell modular azimuth position system; autonomous vehicle; differential GPS; differential global positioning system; differential mode; external VME computer; inertial navigation unit; navigation; real-time systems; Aircraft navigation; Azimuth; Cranes; Filters; Global Positioning System; Inertial navigation; Intelligent robots; Intelligent vehicles; Mobile robots; Remotely operated vehicles;
Conference_Titel :
Position Location and Navigation Symposium, 1996., IEEE 1996
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-3085-4
DOI :
10.1109/PLANS.1996.509117
