Non-Line-of-Sight Automated Vehicle Following Using a Dynamic Base RTK System

William Travis, Scott M. Martin, David W. Hodo, and David M. Bevly

Peer Reviewed

Abstract:	A GPS based automated convoy strategy to duplicate the path of a human driven vehicle is presented. GPS carrier phase measurements are used to estimate a relative position vector with centimeter level accuracy and changes in relative position with millimeter level accuracy. These estimates are used in the presented method to enable a following vehicle to replicate a lead vehicle’s path of travel while both are in motion and not necessarily in sight of one another. Results from a real time implementation are given. Error analysis reveals path following accuracy is a function of following distance. Real time performance is compared to the derived theoretical accuracy. Discussion within explains deficiencies in "breadcrumb" waypoint following, limitations of the proposed method, and suggestions to enhance performance through augmentation with other on board systems.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 58, Number 3
Pages:	241 - 255
Cite this article:	Travis, William, Martin, Scott M., Hodo, David W., Bevly, David M., "Non-Line-of-Sight Automated Vehicle Following Using a Dynamic Base RTK System", NAVIGATION: Journal of The Institute of Navigation, Vol. 58, No. 3, Fall 2011, pp. 241-255.
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