Carrier Phase Differential GPS-aided INS based Vehicle Control: Experimental Results

Yunchun Yang, Jay Farrell and Han-Shue Tan

Abstract:	This paper describes experimental results of an effort to implement and analyze the performance a vehicle control system using control state information obtained from a carrier phase (CP) differential Global Positioning System (DGPS) aided Inertial Navigation System (INS). The initial premise of this project was that CP DGPS/INS technology has the potential to serve as a high frequency, centimeter-level position refference system as necessary for vehicle position control applications, including automated highway systems (AHS). The theory and design of our carrier phase DGPS/INS approach is discussed in [7, 9, 6, 10]. Therefore, the focus of this article is the presentation and analysis of recent experimental results obtained for automobile control at highway speeds. The experimental data was obtained using a Partners for Advanced Transportation and Highways (PATH) vehicle. During testing a magnetometer sensing system was onboard and running to provide a ground truth reference for comparison with the CP DGPS/INS control state information. Performance was demonstrated with lateral position accuracy at the centimeter level and the full navigation state updated at 150 Hz. Communication with the control system occurred at 30 Hz.
Published in:	Proceedings of the 2001 National Technical Meeting of The Institute of Navigation January 22 - 24, 2001 Westin Long Beach Hotel Long Beach, CA
Pages:	679 - 689
Cite this article:	Yang, Yunchun, Farrell, Jay, Tan, Han-Shue, "Carrier Phase Differential GPS-aided INS based Vehicle Control: Experimental Results," Proceedings of the 2001 National Technical Meeting of The Institute of Navigation, Long Beach, CA, January 2001, pp. 679-689.
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