Abstract: | This paper assesses the ability of GPS to guide a robotic vehicle with precision. To secure accurate positional estimates, we use differential GPS positions and Doppler velocities, combined in a filter that exploits the high accuracy of velocity data. A model of vehicle dynamics overcomes a time lag of GPS fixes, which amounts to 1.5 s even for an advanced 6-channel sensor. The system attains positional accuracies around 0.5 m along each horizontal axis with no changes of satellites and 2.4 m over long periods. The system is able to steer a car around a 400 m track so accurately that the laps merge into common pixels on a video display. |
Published in: | NAVIGATION: Journal of the Institute of Navigation, Volume 39, Number 4 |
Pages: | 383 - 406 |
Cite this article: | Crow, S. C., Manning, F. L., "DIFFERENTIAL GPS CONTROL OF STARCAR2", NAVIGATION: Journal of The Institute of Navigation, Vol. 39, No. 4, Winter 1992-1993, pp. 383-406. |
Full Paper: |
ION Members/Non-Members: 1 Download Credit
Sign In |