This paper reports on a simulation feasibility study to investigate the direct measurement of ground plane vehicle response state variables (velocities over the ground) using GPS (Global Positioning Satellite) compensated INS (inertial instrumentation). Specifically, simulations will be run for a vehicle negotiating a test case manoeuvre where an extended KF (Kalman filter) will be designed using either state variables assumed to be derived using estimated states from a limited set of directly measured state variables (as is the current practise) or measured directly using GPS compensated INS. The intention behind this work was to set up a simulation architecture to enable a range of vehicle models and controller algorithms to be plugged into the transient time domain vehicle simulation environment to demonstrate and develop time varying noise and disturbance input extended KF design algorithms. The results in this paper demonstrate that such a simulation environment has been created and that the ground work has been laid for its use with full order twin track vehicle models both in the plant model and KF estimator design algorithm and with other vehicle dynamic system controllers. The eventual aim of this work is to take the Kalman estimators designed in this simulation environment and implement them in real time on an actual test vehicle instrumented with a GPS compensated INS system.
Four wheel steer controller development utilising a GPS (global positioning satellite) system compensated inertial sensor suite
Entwicklung einer Vierradantrieb-Lenksteuerung unter Einsatz einer durch GPS (Global Positioning Satellite) kompensierten Schwerkraftsensorik
2006
12 Seiten, 4 Bilder, 7 Tabellen, 17 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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