DIFFERENTIAL GPS CONTROL OF STARCAR2

S. C. Crow and F. L. Manning

Peer Reviewed

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.
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