Parametric Error Equations for Dead Reckoning Navigators used in Ground Vehicle Guidance and Control
by
Bevly, D., D Gebre-Egziabher and B. W. Parkinson
in
Navigation, Vol. 53. No., 2007.
Category: Journal Article
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Abstract:
The performance of a GPS aided dead reckoning navigator for ground vehicle guidance and control is evaluated. The dead reckoning system consists of a single axis rate gyro for heading determination and a Doppler radar for speed measurements. Heading drift due to rate gyro errors is kept in check using a multi-antenna carrier phase GPS attitude determination system. Position drift due to heading and Doppler radar speed measurement errors is bounded using position and velocity estimate from a differential carrier phase GPS navigation system. The effects of the various sensor errors and sensor sampling rate on position estimation error during momentary GPS outages are evaluated. The analysis provides equations for the dead reckoning error growth as a function of the sensor noise and sampling rate. It is shown that with inexpensive rate gyros, sampling rate can have a significant effect on position error drift. The results of the error analysis are confirmed experimentally by testing the dead reckoning system on an automated farm tractor. It is shown that the system can provide heading to within +1 deg and position estimation to within 0.3 m for control of the farm tractor during 20-40 s GPS outages. It is also shown that at low sampling rates, the primary source of position errors is random walk due to integration of wide band noise from the rate gyros.
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