| Autor: |
David G. Armstrong, R.M. Rogers, Jeffrey S. Wit, Carl D. Crane |
| Rok vydání: |
2002 |
| Předmět: |
|
| Zdroj: |
Proceedings of Position, Location and Navigation Symposium - PLANS '96. |
| DOI: |
10.1109/plans.1996.509117 |
| Popis: |
An integrated navigation system, combining an inertial navigation unit (INU) and a differential global positioning system (DGPS), is described and performance results are presented for the Kawasaki MULE test vehicle for autonomous vehicle application. Continuous real-time navigation data is required to provide this autonomous vehicle with high-rate data for following a pre-computed path. The US Army/Honeywell modular azimuth position system (MAPS) INU and a pair of Ashtech Z-12 stand-alone GPS receiver units, operated in a differential mode, are elements of the navigation system. Their integration is via a navigation Kalman filter implemented in an external VME computer. The navigation filter's design objectives are included. Test results show a real-time high rate positioning accuracy that is generally within 1/2 meter compared to post-processed DGPS positions. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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