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9781596933019

Gnss for Vehicle Control

by ;
  • ISBN13:

    9781596933019

  • ISBN10:

    1596933011

  • Format: Hardcover
  • Copyright: 2010-08-31
  • Publisher: Artech House
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Summary

As global navigation satellite systems (GNSS) such as GPS have grown more pervasive, the use of GNSS to automatically control ground vehicles has drawn increasing interest. This cutting-edge resource offers a thorough understanding of this emerging application area of GNSS. Written by highly-regarded authorities in the field, this unique reference covers a wide range of key topics, including ground vehicles models, psuedolites, highway vehicle control, unmanned ground vehicles, farm tractors, and construction equipment. The book is supported with over 150 illustrations and more than 180 equations.

Author Biography

David M. Bevly is an associate professor in the Department of Mechanical Engineering at Auburn University, where he directs the GPS and Vehicle Dynamics Laboratory (GAVLAB). He is a member of the American Society of Mechanical Engineers and the Institute of Navigation. He holds an M.S. and a Ph.D. in mechanical engineering from MIT and Stanford University, respectively. Stewart Cobb is a founder of Novariant Corporation, where he designs GPS receivers and pseudolites for precise control of air and ground vehicles. He holds a B.S., an M.S., and a Ph.D. in aeronautics and astronautics from MIT and Stanford University. He also holds an M.S. in systems management from the University of Southern California.

Table of Contents

Prefacep. xiii
Acknowledgmentsp. xvii
GNSS and Other Navigation Sensorsp. 1
Global Navigation Satellite System (GNSS)p. 1
Description of a Typical GNSSp. 2
Simple (Pseudorange) GNSS Navigationp. 3
Differential GNSS Navigationp. 6
Precise (RTK) GNSS Navigationp. 8
Current and Future GNSS Constellationsp. 11
Pseudolitesp. 14
Pseudolite Basicsp. 14
Pseudolite/GNSS Navigationp. 14
Differential Pseudolite/GNSS Navigationp. 15
Pseudolite Self-Synchronizationp. 16
Stand-Alone Pseudolite Navigationp. 16
Conflicts with GNSS Frequenciesp. 17
Inertial Navigation Systems (INS)p. 18
Linear Inertial Instruments: Accelerometersp. 18
Angular Inertial Instruments: Gyroscopesp. 20
Ideal Inertial Navigationp. 21
Sensing Earth Effectsp. 23
Inertial Instrument Errorsp. 25
Inertial Error Propagationp. 30
Odometer Technologyp. 31
Quantizationp. 32
Wheel Slipp. 32
Wheel Radius Errorp. 33
GNSS/Inertial Integrationp. 34
Referencesp. 35
Vision Aided Navigation Systemsp. 39
Lane Positioning Methodsp. 40
Lidar-Based Positioningp. 40
Camera-Based Positioningp. 42
Coordinate Frame Rotation and Translationp. 43
Two-Dimensional Rotationsp. 44
Three-Dimensional Rotationsp. 45
Coordinate Frame Translationp. 46
Global Coordinate Frame Rotationsp. 47
Waypoint-Based Mapsp. 48
Aiding Position, Speed, and Heading Navigation Filter with Vision Measurementsp. 49
Two-Dimensional Map Constructionp. 50
Measurement Structurep. 51
Checking Waypoint Map Positionp. 51
Resultsp. 52
Aiding Closely Coupled Navigation Filter with Vision Measurementsp. 52
Three-Dimensional Map Constructionp. 54
Measurement Structurep. 56
Checking Waypoint Map Positionp. 58
Resultsp. 58
Referencesp. 59
Vehicle Modelingp. 61
Introductionp. 61
SAE Vehicle Coordinatesp. 61
Bicycle Modelp. 63
Basicsp. 63
Understeer Gradientp. 70
Four-Wheel Bicycle Modelp. 71
Tiresp. 74
Basicsp. 74
Contact Patch and Slipp. 74
Tire Modelsp. 76
Roll Modelp. 79
Free Body Diagramp. 79
Equation of Motionp. 80
State Space Representationp. 80
Additional Models Used in this Workp. 80
Two-Wheeled Vehiclep. 81
Trailer Modelp. 82
Vehicle Model Validationp. 84
Referencesp. 88
Navigation Systemsp. 91
Introductionp. 91
Kalman Filterp. 92
GPS/INS Integration Architecturesp. 93
Loose Couplingp. 93
Close Couplingp. 94
Speed Estimationp. 95
Accelerometer and GPSp. 96
Accelerometer, GPS, and Wheel Speedp. 102
Heading Estimationp. 107
Position, Speed, and Heading Estimationp. 111
Coordinate Conversionp. 112
Accelerometer, Yaw Rate Gyroscope, GPS, and Wheel Speedp. 113
Navigation in the Presence of Sideslipp. 120
Generation of Sideslipp. 120
Sideslip Compensation with a Dual Antenna GPS Receiverp. 122
Closely Coupled Integrationp. 130
Referencesp. 143
Vehicle Dynamic Estimation Using GPSp. 145
Introductionp. 145
Sideslip Calculationp. 146
Vehicle Estimationp. 147
Experimental Setupp. 148
Test Scenariosp. 148
Kinematic Estimator (Single GPS Antenna)p. 149
Kinematic Kalman Filter (Dual Antenna)p. 151
Tire Parameter Identificationp. 154
Model-Based Kalman Filterp. 160
Linear Tire Modelp. 161
Nonlinear Tire Modelp. 164
Estimator Accuraciesp. 170
Conclusionsp. 171
Acknowledgmentsp. 172
Referencesp. 172
GNSS Control of Ground Vehiclesp. 175
Introductionp. 175
Vehicle Modelp. 175
Speed Controllerp. 179
Vehicle Steering Controlp. 181
Classical Steer Angle Controllerp. 181
Classical Yaw Rate Controllerp. 182
Waypoint Controlp. 185
Heading Modelp. 185
Heading Error Calculationsp. 186
Heading Controlp. 187
Simulation Resultsp. 190
Lateral Controlp. 192
Error Calculationp. 193
Lateral Position Modelp. 198
Lateral Position Controlp. 200
Simulation Resultsp. 203
Implement/Trailer Controlp. 203
Trailer Modelp. 204
Error Calculationp. 206
Trailer Controlp. 208
Simulation Resultsp. 210
Referencesp. 212
Pseudolites for Vehicle Navigationp. 215
Pseudolite Applicationsp. 215
Open-Pit Miningp. 216
Construction Sitesp. 218
Urban Navigationp. 218
Indoor Applicationsp. 219
Pseudolite Systemsp. 221
IntegriNautics IN400p. 221
Novariant Terralite XPS Systemp. 223
Locata LocataLitesp. 225
Referencesp. 226
Appendix Estimation Methodsp. 229
Introductionp. 229
System Modelp. 229
Discretizationp. 231
Least Squaresp. 233
Weighted Least Squaresp. 236
Recursive Weighted Least Squaresp. 243
Kalman Filterp. 246
Extended Kalman Filterp. 249
Initializationp. 252
Referencesp. 252
About the Authorsp. 253
Indexp. 257
Table of Contents provided by Ingram. All Rights Reserved.

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