Differential GPS Control of Starcar 2

S. C. Crow and F. L. Manning

Abstract:	This paper assesses the ability of the Navstar Global Positioning System to guide a robotic vehicle with precision. To secure accurate positional estimates, we use differential GPS positions and Doppler velocities, combined in a filter that exploits the high accuracy of veloc- ity data. A model of vehicle dynamics over- comes a time lag of GPS fixes, which amounts to 1.5 set even for an advanced six-channel sensor. The system attains positional accuracies around 1 m along each horizontal axis with no changes of satellites and 2 m over long peri- ods. The system is able to steer a car around a 400-m track so accurately that the laps merge into common pixels on a video display.
Published in:	Proceedings of the 1992 National Technical Meeting of The Institute of Navigation January 27 - 29, 1992 Catamaran Resort Hotel San Diego, CA
Pages:	359 - 377
Cite this article:	Crow, S. C., Manning, F. L., "Differential GPS Control of Starcar 2," Proceedings of the 1992 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1992, pp. 359-377.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In