Parametric error equations for dead reckoning navigators used in ground vehicle guidance and control

David M. Bevly, Demoz Gebre-Egziabher, Bradford Parkinson

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This paper develops and validates parametric error models for a GPS-aided dead reckoning navigator for ground vehicle guidance and control. The dead reckoning navigator fuses information from a rate gyro and a Doppler radar to provide a two-dimensional navigation solution during momentary GPS outages. When available, GPS is used to calibrate the dead reckoning sensor errors. The error models developed provide a quick and accurate method for predicting the navigator's performance during these momentary GPS outages. The models parameterize the navigation performance as a function of sensor quality, sensor sampling rate and GPS outage length. The error models are validated in a series of tests using a farm tractor. The models predict and the tests show that this dead reckoning system can provide a 61 deg heading and 0.3 m position accuracy during a 20-40 s GPS outage.

Original languageEnglish (US)
Pages (from-to)135-147
Number of pages13
JournalNavigation, Journal of the Institute of Navigation
Volume53
Issue number3
DOIs
StatePublished - Jan 1 2006

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