This article reports a method for integrating a low-cost positioning system, constructed using a Garmin N17 global positioning system (GPS) and an integrated inertial sensor unit, consisting of three single-axis microelectromechanical system (MEMS) gyros and one triaxial MEMS accelerometer, for autonomous off-highway vehicle use. Based on a vehicle position-velocity- attitude (PVA) model, a data fusion algorithm was formulated to extract more accurate and reliable positioning information from the raw data sensed by the GPS and inertial sensor unit. The developed integrated positioning system (IPS) was evaluated on an agricultural utility vehicle on three different sites. A real-time kinematic (RTK) differential GPS unit, capable of providing 2-3 cm dynamic positioning accuracy while the position dilution of precision is low enough, was installed on the test vehicle to provide accurate positioning references in those evaluation tests. Results obtained from those tests showed that, when the vehicle was travelling on paved roads near buildings and/or under the trees, the maximum positioning error of the developed IPS was 0.50 m, and that this maximum error level was reduced to 0.30 m when the vehicle was travelling in open fields. The IPS could provide a position update rate at 50 Hz; even the GPS could provide only a 1 Hz update rate. Test results also revealed that this system could continuously provide accurate position signals when the GPS signal is lost for up to 30 s. This research verified that a low-cost IPS could provide satisfactory position information for autonomous off-highway vehicle uses.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A low-cost integrated positioning system for autonomous off-highway vehicles


    Weitere Titelangaben:

    Kostengünstiges integriertes Navigationssystem für autonome Geländefahrzeuge


    Beteiligte:
    Guo, L.S. (Autor:in) / Zhang, Q. (Autor:in)


    Erscheinungsdatum :

    2008


    Format / Umfang :

    13 Seiten, 15 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch






    A low-cost integrated positioning system for autonomous off-highway vehicles

    Guo,l.S. / Zhang,Q. / Cummins,US et al. | Kraftfahrwesen | 2008


    HIGHWAY SYSTEM FOR AUTONOMOUS VEHICLES

    CHEUNG HAY YEUNG | Europäisches Patentamt | 2019

    Freier Zugriff

    POSITIONING AUTONOMOUS VEHICLES

    NAVAS SANCHEZ BORJA / VIEDMA PONCE RAMON / MELERO CAZORLA DAVID | Europäisches Patentamt | 2022

    Freier Zugriff