COMPARISON OF INS VS. CARRIER-PHASE DGPS FOR ATTITUDE DETERMINATION IN THE CONTROL OF OFF-ROADVEHICLES

David M. Bevly, Andrew Rekow and Bradford Parkinson

Peer Reviewed

Abstract:	This paper compares the use of an inertial navigation system INS and a multiple GPS antenna system for attitude determination of an off-road vehicle. The INS system currently provides a less expensive attitude solution than the multiple GPS antenna system. Additionally, the INS system does not suffer from GPS errors resulting from multipath and antenna blockages. A Kalman filter incorporates the INS measurements with centimeter-level carrier-phase differential GPS DGPS measurements from one position antenna for complete position and attitude estimation of an off-road vehicle. The centimeter-level accuracy of DGPS allows for precise calibrations of the INS system for accurate attitude estimation. The paper shows that a low-cost INS system is capable of providing the attitude accuracy necessary for centimeter-level control of an off-road vehicle. Results of using the INS system in conjunction with DGPS position measurements to autonomously control a farm tractor are presented.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 47, Number 4
Pages:	257 - 266
Cite this article:	Bevly, David M., Rekow, Andrew, Parkinson, Bradford, "COMPARISON OF INS VS. CARRIER-PHASE DGPS FOR ATTITUDE DETERMINATION IN THE CONTROL OF OFF-ROADVEHICLES", NAVIGATION: Journal of The Institute of Navigation, Vol. 47, No. 4, Winter 2000-2001, pp. 257-266.
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