Improving KGPS/INS Performance and Reliability for Safety Applications with Vehicle Dynamic Constraints

Jin Wang and Chris Wilson

Abstract:	Many safety applications will be enabled with vehicle positioning and digital map accuracy of a few centimeters. These include: lane departure warning, lane keeping, coordinated driving and collision avoidance etc. As a primary vehicle sensor for safety, the positioning system must be sufficiently accurate and robust. Kinematic satellite positioning system (KGPS) when integrated with INS can provide the precision that support vehicle safety applications under normal conditions. However it can sometimes yield poor uncertainty or reliability information due to undistinguished inertial errors and underestimated system errors. Wheel speed (WS) dead-reckoning has been widely used for navigation in conjunction with GPS. However at high precision (i.e. 10 cm or less), vehicle dynamics is not fully understood. KGPS/INS enables measurement of vehicle dynamics at high precision and the refined vehicle model will in return constrain or reduce the abnormal vehicle maneuvers. Thus the redundancy of vehicle dynamics can be established and the integrity will be enhanced. Here we describe work intended to improve KGPS/INS performance and reliability by combining the system with a vehicle dynamic model. An integrity monitoring algorithm is also discussed. A Novatel KGPS/INS BlackDiamond system with medium grade Honeywell IMU was used in the test and wheel speed was obtained from ABS sensor through CAN bus in Mercedes S500. A lane-level precision map made by DaimlerChrysler RTNA with statistical approaches was incorporated for evaluation. The results show that both the positioning accuracy and reliability are noticeably improved.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	1790 - 1797
Cite this article:	Wang, Jin, Wilson, Chris, "Improving KGPS/INS Performance and Reliability for Safety Applications with Vehicle Dynamic Constraints," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 1790-1797.
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