Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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The Study of the Position Estimation for an Autonomous Land Vehicle

  • Lim, Ho (Department of Electronic Engineering, Sungnam Polytechnic College) ;
  • Park, Chong-Kug (Department of Electronic Engineering, Kyunghee University)
  • Published : 2004.04.01
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Abstract

In this paper, we develop and implement a high integrity GNC(Guidance, Navigation, and Control) system, based on the combined use of the Global Positioning System (GPS) and an Inertial Measurement Unit (IMU), for autonomous land vehicle applications. This paper highlights guidance for the predetermined trajectory and navigation with detection of possible faults during the fusion process in order to enhance the integrity of the navigation loop. The implementation of the GNC system to the autonomous land vehicle presented with fault detection methodology considers high frequency faults from the GPS receiver caused by shadowing and multipath error The implementation, based on a low-cost, strapdown INS aided by standard GPS technology, is described. The results of the field test in the urban environment are presented and showed effectiveness of the GNC system.

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