A Cost Effective Approach to Inertial Sensor Selection Combining Simulation and Empirical Analysis

Vivek Nadkarni, and John Peake

Abstract:	In a commercial autonomous vehicle guidance system, it is desirable that the cheapest sensors, that afford a requisite level of system performance, be chosen in a timely and cost effective manner. This paper outlines a methodology to select and qualify inexpensive inertial sensors for use in land-based vehicle control systems. Traditional sensor evaluation techniques often involve focusing on either extensive simulation with limited a posteriori empirical model validation, or comprehensive field tests which often do not associate the observed system behavior with the relevant sensor characteristics. The methodology presented in this paper combines the two approaches in a more balanced manner, thereby reducing sensor evaluation time and cost. Details of this methodology are presented in this paper and are discussed in the context of a rate-gyroscope qualification program, used in a commercial autonomous tractor. Results illustrating the application of this technique are also presented.
Published in:	Proceedings of the 2004 National Technical Meeting of The Institute of Navigation January 26 - 28, 2004 The Catamaran Resort Hotel San Diego, CA
Pages:	945 - 953
Cite this article:	Nadkarni, Vivek, Peake, John, "A Cost Effective Approach to Inertial Sensor Selection Combining Simulation and Empirical Analysis," Proceedings of the 2004 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2004, pp. 945-953.
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