Integrated DR/DGPS using Low Cost Gyro and Speed Sensor

Robert M. Rogers

Abstract:	The objective of this integrated Differential GPS/Dead-Reckoning (DR/DGPS) land navigation system is use low cost sensors to provide accurate position and heading navigation data continuously for remotely operated and autonomous land vehicles. A ground track retrace repeatability evaluation indicates accuracies equivalent to the DGPS’ positioning accuracy (approximately 0.2 meters 1-sigma). While traveling along the cardinal directions, heading accuracies (including manual steering errors) indicated are approximately 0.2 degrees 1-sigma, or less. Other similar tests were conducted with the DGPS artificially disrupted to demonstrate the resulting accuracy of the DR-only positions while DGPS data was not available. These additional tests show the benefits of Kalman filter’s dynamic calibrations of the rate gyro and speed sensor errors yielding position errors less than 1 meter at the end of a 2 minute unaided period.
Published in:	Proceedings of the 1999 National Technical Meeting of The Institute of Navigation January 25 - 27, 1999 Catamaran Resort Hotel San Diego, CA
Pages:	353 - 360
Cite this article:	Rogers, Robert M., "Integrated DR/DGPS using Low Cost Gyro and Speed Sensor," Proceedings of the 1999 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1999, pp. 353-360.
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