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On rate gyros for improved navigation by reducing dead-reckoning errors
Luleå tekniska universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
1998 (English)In: Elsevier IFAC Publications / IFAC Proceedings series, ISSN 1474-6670, Vol. 31, no 3, 207-212 p.Article in journal (Refereed) Published
Abstract [en]

Consider a vehicle using a number of landmarks for navigation. Between the observation of the landmarks, the motion of the vehicle is estimated using internal sensors like odometers and rate gyros. The output from a dead reckoning algorithm is used in a Kalman filter and/or used to make association of observed landmarks. In such a system the accuracy of the dead reckoning algorithm is essential for the overall performance. In the paper `slip angles' at the wheel-surface contact point are included in the kinematic model. The slip angle is assumed to be essentially proportional to the side force. The topics considered in the paper are: dead reckoning model with a slip angle; improved dead reckoning when a rate gyro is used; and equations for comparing the error growth. Four different algorithms for dead reckoning are studied and compared. Two of them just model the slippage and two of them are based on more accurate measurements of rotation, using a rate gyro

Place, publisher, year, edition, pages
1998. Vol. 31, no 3, 207-212 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
URN: urn:nbn:se:ltu:diva-63639DOI: 10.1016/S1474-6670(17)44086-9ISBN: 0-08-042929-7 (print)OAI: oai:DiVA.org:ltu-63639DiVA: diva2:1104336
Conference
3rd IFAC Symposium on Intelligent Autonomous Vehicles 1998 (IAV'98), Madrid, Spain, 25-27 March
Available from: 2017-06-01 Created: 2017-06-01 Last updated: 2017-11-24Bibliographically approved

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Wernersson, Åke

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