An Augmented Inertial Navigation System for Autonomously Guided Vehicles

Wolfram J.M. Ebert, T. Krieg, J. Schnell

Abstract:	A LITEF augmented inertial navigation system for application in autonomously guided vehicles (AGV), called Li.NAV FX-105, is presented in this paper. The Li.NAV FX-105 is based on the principle of dead reckoning navigation. It comprises a fibre optic gyro and a navigation com- puter. The navigation computer reads the steering angle and the odometer values (distance increments) of the vehicle. The rotationalmove- ments of the vehicle are measured by the fibre optic gyro and are also passed to the computer. It then calculates the current posi- tion and the heading angle of the AGV relative to a pre-defined planar coordinate system. Navigation errors are corrected by use of magnetic, optical or other waypoints according to individual customer requirements. The non-augmented accuracy of the system is better than 5 cm over a straight-line distance of 30 m travelled. Using only a few of these easily mountable/removable waypoints the system navigates the AGV with the above-mentioned high accuracy over long distan- ces. The Li.NAV FX-105 is designed for typical environmental condi- tions encountered in production facilities and storage halls.
Published in:	Proceedings of the 1994 National Technical Meeting of The Institute of Navigation January 24 - 26, 1994 Catamaran Resort Hotel San Diego, CA
Pages:	567 - 576
Cite this article:	Ebert, Wolfram J.M., Krieg, T., Schnell, J., "An Augmented Inertial Navigation System for Autonomously Guided Vehicles," Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1994, pp. 567-576.
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