An Experimental Exploration of Vehicle Model and Complementary Covariance Methods for Precision Ground Vehicle Navigation

Daniel C. Salmon and David M. Bevly

Abstract:	This paper discusses an experimental comparative analysis of the benefits of using a Vehicle Dynamic Model in conjunction with standard vehicle safety sensors to assist a low-cost Inertial Measurement Unit (IMU) and low-cost Global Positioning System (GPS) for precision ground vehicle navigation. Measurements from a GPS, an IMU/Inertial Navigation System (INS), and the output from a Vehicle Dynamic Model are used in this research in order to analyze the advantages and disadvantages of each system. Each of the proposed navigation sensor sets demonstrates detrimental characteristics that prevent their use for reliable, high precision standalone ground vehicle navigation. The advantages of fused GPS/INS systems are well documented by many authors throughout previous research; however, the ability to navigate by dead reckoning with low-cost IMU’s degrades significantly during long periods of GPS outage. In order to create a robust navigation system, an alternate dead reckoning system must be in place to limit the error growth of the inertial navigation system during extended periods of limited GPS availability. The technology and sensor set necessary to achieve this limited error growth during dead reckoning navigation is now available as standard equipment on the average consumer vehicle. Wheel speed sensors along with steer angle sensors can be combined with a dynamic vehicle model at practically no added cost in order to create a reliable dead reckoning navigation solution.
Published in:	Proceedings of the ION 2015 Pacific PNT Meeting April 20 - 23, 2015 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	573 - 582
Cite this article:	Salmon, Daniel C., Bevly, David M., "An Experimental Exploration of Vehicle Model and Complementary Covariance Methods for Precision Ground Vehicle Navigation," Proceedings of the ION 2015 Pacific PNT Meeting, Honolulu, Hawaii, April 2015, pp. 573-582.
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