A Novel Yaw Rate Sensor Bias Error Containment Method Using Existing Vehicle Sensors

C. Basnayake

Abstract:	Modern automobiles are equipped with multiple sensors that are capable of sensing a wide range of vehicle kinematic and environmental information. While Global Navigation Satellite System (GNSS) technology lead by GPS is very likely the most suited technology for vehicle navigation and positioning, alternative sensors need to be incorporated with GNSS to overcome the inherent limitations associated with GNSS technology, particularly in urban canyons, dense tree covered areas and a host of other environments and conditions where sky visibility is limited. This paper presents a novel method for yaw sensor error mitigation during GNSS outages that could last up to several minutes. The method uses steering wheel angle, individual wheel speed, and transmission status sensors, all of which are standard sensors available in most automobiles. The algorithm steers a yaw sensor bias removal process such that bias variations during a GNSS outage can be tracked and minimized. Taken individually, none of these sensors, including the production-type yaw rate sensor used in this work is capable of maintaining the targeted accuracy. The method intelligently combines noisy and redundant information from multiple sensors to greatly enhance the bias characteristics of a yaw rate sensor. The method was implemented in a productionlike vehicle with standard sensors and the results are presented herewith. The implementation includes a full navigation solution in which bias removed yaw rate is combined with calibrated wheel speeds and transmission status information to provide a vehicle position solution regardless of the GPS availability status. Test runs conducted in indoor environments (i.e., enclosed parking structures) and typical roadways with complete GPS outages lasting more than a minute are presented. The results show that under most driving conditions, Which Road accuracy can be maintained with high degree of confidence for up to several minutes during a complete GPS loss. Typical error growth depending on the distance traveled or accumulated heading change is also investigated.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	555 - 563
Cite this article:	Basnayake, C., "A Novel Yaw Rate Sensor Bias Error Containment Method Using Existing Vehicle Sensors," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 555-563.
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