Sensor fusion method for off-road vehicle position estimation

Linsong Guo; Qin Zhang; Shufeng Han

doi:10.1117/12.474454

17 July 2002 Sensor fusion method for off-road vehicle position estimation

Linsong Guo, Qin Zhang, Shufeng Han

Proceedings Volume 4715, Unmanned Ground Vehicle Technology IV; (2002) https://doi.org/10.1117/12.474454
Event: AeroSense 2002, 2002, Orlando, FL, United States

Abstract

A FOG-aided GPS fusion system was developed for positioning an off-road vehicle, which consists of a six-axis inertial measurement unit (IMU) and a Garmin global positioning system (GPS). An observation-based Kalman filter was designed to integrate the readings from both sensors so that the noise in GPS signal was smoothed out, the redundant information was fused and a high update rate of output signals was obtained. The drift error of FOG was also compensated. By using this system, a low cost GPS can be used to replace expensive GPS with a higher accuracy. Measurement and fusion results showed that the positioning error of the vehicle estimated using this fusion system was greatly reduced from a GPS-only system. At a vehicle speed of about 1.34 m/s, the mean bias in East axis of the fusion system was 0.48 m comparing to the GPS mean bias of 1.28 m, and the mean bias in North axis was reduced to 0.32 m from 1.48 m. The update frequency of the fusion system was increased to 9 Hz from 1 Hz of the GPS. A prototype system was installed on a sprayer for vehicle positioning measurement.

Citation Download Citation

Linsong Guo, Qin Zhang, and Shufeng Han "Sensor fusion method for off-road vehicle position estimation", Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); https://doi.org/10.1117/12.474454

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available