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Integrated INU/DGPS for autonomous vehicle navigation

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4 Author(s)
R. M. Rogers ; Rogers Eng. & Associates, Gainesville, FL, USA ; J. S. Wit ; C. D. Crane ; D. G. Armstrong

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 ½ meter compared to post-processed DGPS positions

Published in:

Position Location and Navigation Symposium, 1996., IEEE 1996

Date of Conference:

22-26 Apr 1996