GPS/INS/G Sensors/Yaw Rate Sensor/Wheel Speed Sensors Integrated Vehicular Positioning System

J. Gao

Abstract:	This paper discusses in detail the integration strategy and algorithms for the integration of GPS, a tactical grade HG1700 IMU, G sensors which measure horizontal specific force, a yaw rate sensor and wheel speed sensors. Using a tight coupling strategy, the dynamic and measurement models of a centralized Kalman filter are developed. The research investigates the use of nonholonomic constraints which are typically used in vehicle positioning applications, and the limitations of these constraints are reduced through use of the auxiliary sensors. An algorithm for on-line tuning of the velocity variance for velocity updates is investigated. GPS data collected in the field is used to compare the performance of four integration strategies, namely a GPS/INS integrated system, a GPS/INS/G sensors/Yaw rate sensor/Wheel speed sensor system with two nonholonomic constraints, a GPS/INS/G sensors/Yaw rate sensor/Wheel speed sensor system with the replacement of the lateral constraint by the estimated lateral velocity, and a GPS/INS/G sensors/Yaw rate sensor/Wheel speed sensor system with the removal of the lateral constraint by decomposing the wheel speed sensor measurement with the side slip angle.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	1427 - 1439
Cite this article:	Gao, J., "GPS/INS/G Sensors/Yaw Rate Sensor/Wheel Speed Sensors Integrated Vehicular Positioning System," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 1427-1439.
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