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



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