Comparison of INS vs. Carrier-Phase DGPS for Attitude Determination in the Control of Off-Road Vehicles

David M. Bevly, Andrew Rekow and Bradford Parkinson

Abstract:	This paper compares the use of an Inertial Navigation System (INS) to that of a four GPS antenna system for attitude determination of an off-road vehicle. The INS system currently provides a less expensive attitude solution than that of the four GPS antenna system. Additionally, the INS system does not suffer from GPS errors such as multi-path and receiver blockages. A Kalman filter incorporates the INS measurements with cm-level Carrier-Phase Differential GPS (DGPS) measurements from one position antenna for complete position and attitude estimation of an off-road vehicle. The cm-level accuracy of the DGPS allows for precise calibrations of the INS system for accurate attitude estimation. This paper shows that a low cost INS system is capable of providing the attitude accuracy necessary for cm level control of an off-road vehicle. Results are shown using the INS system, in conjunction with DGPS position measurements, to autonomously control a farm tractor.
Published in:	Proceedings of the 55th Annual Meeting of The Institute of Navigation (1999) June 27 - 30, 1999 Royal Sonesta Hotel Cambridge, MA
Pages:	497 - 504
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-Road Vehicles," Proceedings of the 55th Annual Meeting of The Institute of Navigation (1999), Cambridge, MA, June 1999, pp. 497-504.
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