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TECHNICAL PAPERS

Global Positioning System (GPS): A Low-Cost Velocity Sensor for Correcting Inertial Sensor Errors on Ground Vehicles

[+] Author and Article Information
David M. Bevly

Department of Mechanical Engineering, Auburn University, AL 36849-5341 Phone: (334) 844-3446e-mail: dmbevly@eng.auburn.edu

J. Dyn. Sys., Meas., Control 126(2), 255-264 (Aug 05, 2004) (10 pages) doi:10.1115/1.1766027 History: Received July 08, 2003; Revised November 23, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

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Figures

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GPS Velocity Measurements from a Stationary Antenna
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GPS Velocity-Based Course and Road Grade Accuracies
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Velocities, Orientations, and Orientation Rates for an Example Vehicle
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Steady State Estimator Closed Roots as Function of Qbias
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Velocity Estimation Accuracy as a Function of Qbias
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Estimator Bandwidth as a Function of Qbias
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Experimental Estimator Performance on a Stationary Vehicle
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Accuracy of the Estimated States from the State Estimation Covariance Matrix (P)
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Velocity Heading Estimator Performance as a Function of Velocity for Various Qbias Values
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Experimental Velocity Heading Estimator Performance on a Moving Vehicle
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Experimental Longitudinal Estimator Performance during Heavy Acceleration and Braking
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Estimation of Roll from a Simulated Step Steer Input With and Without a Roll Gyro
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Experimental Lateral Estimator Performance During Lane Change Maneuvers

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