Design and validation of an integrated navigation system for ground vehicles are investigated. The objective is to obtain sufficiently accurate and reliable estimates of vehicle's position and orientation as to allow, in conjunction with an appropriate guidance system, autonomous parking maneuvers in a restricted environment. This objective is pursued by integrating odometric sensors data (from optical encoders installed on the rear wheels of the vehicle) with data from a differential global position system (DGPS) receiver. The integration is carried out by means of extended Kalman filtering, and is aimed at improving accuracy of position and orientation estimates when a reliable but insufficiently precise code-based DGPS is used, at improving estimates reliability, when a precise but insufficiently reliable carrier-tracking DGPS is adopted. Simulation and experimental tests illustrate the theoretical development.
Odometry and DGPS integrated navigation system for ground vehicles
2001
6 Seiten, 11 Bilder, 12 Quellen
Conference paper
English
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