Parametric Error Equations for Dead Reckoning Navigators used in Ground Vehicle Guidance and Control

David M. Bevly, Demoz Gebre-Egziabher, and Bradford Parkinson

Abstract: This paper develops and validates parametric error models for a GPS-aided dead reckoning navigator for ground vehicle guidance and control. The dead reckoning navigator fuses information from a rate gyro and a Doppler radar to provide a two-dimensional navigation solution during momentary GPS outages.When available, GPS is used to calibrate the dead reckoning sensor errors. The error models developed provide a quick and accurate method for predicting the navigator’s performance during these momentary GPS outages. The models parameterize the navigation performance as a function of sensor quality, sensor sampling rate and GPS outage length. The error models are validated in a series of tests using a farm tractor. The models predict and the tests show that this dead reckoning system can provide a 61 deg heading and 0.3 m position accuracy during a 20-40 s GPS outage.
Published in: NAVIGATION, Journal of the Institute of Navigation, Volume 53, Number 3
Pages: 135 - 147
Cite this article: Bevly, David M., Gebre-Egziabher, Demoz, Parkinson, Bradford, "Parametric Error Equations for Dead Reckoning Navigators used in Ground Vehicle Guidance and Control", NAVIGATION, Journal of The Institute of Navigation, Vol. 53, No. 3, Fall 2006, pp. 135-147.
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