By Topic

Sensitivity Analysis of a Tightly-Coupled GPS/INS System for Autonomous Navigation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Miller, I. ; Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA ; Campbell, M.

The work presented here empirically analyzes the design of the tightly-coupled position, velocity, and attitude estimator used as a feedback signal for autonomous navigation in a large scale robot driving in urban settings. The estimator fuses GNSS/INS signals in an extended square root information filter (ESRIF), a numerically-robust implementation of an extended Kalman filter (EKF), and was used as the basis for Cornell University's 2007 DARPA Urban Challenge robot, "Skynet." A statistical sensitivity analysis is conducted on Skynet's estimator by examining the changes in its behavior as critical design elements are removed. The effects of five design elements are considered: map aiding via computer vision algorithms, inclusion of differential corrections, filter integrity monitoring, Wide Area Augmentation System (WAAS) augmentation, and inclusion of carrier phases; the effects of extensive signal blackouts are also considered. Metrics of comparison include the statistical differences between the full solution and variant; the Kullback-Leibler divergence; and the average and standard deviation of the position errors, attitude errors, and filter update discontinuities.

Published in:

Aerospace and Electronic Systems, IEEE Transactions on  (Volume:48 ,  Issue: 2 )