Carrier Phase Diu000berential GPS-aided INS basedVehicle Control: Experimental Results

摘要

This paper describes experimental results of an effortrnto implement and analyze the performance a vehiclerncontrol system using control state information obtained from a carrier phase (CP) diu000berential GlobalrnPositioning System (DGPS) aided Inertial NavigationrnSystem (INS). The initial premise of this project wasrnthat CP DGPS/INS technology has the potential tornserve as a high frequency, centimeter-level position referencernsystem as necessary for vehicle position controlrnapplications, including automated highway systemsrn(AHS). The theory and design of our carrier phasernDGPS/INS approach is discussed in [7, 9, 6, 10]. Therefore,rnthe focus of this article is the presentation andrnanalysis of recent experimental results obtained for automobilerncontrol at highway speeds. The experimentalrndata was obtained using a Partners for AdvancedrnTransportation and Highways (PATH) vehicle. Duringrntesting a magnetometer sensing system was onboardrnand running to provide a ground truth reference forrncomparison with the CP DGPS/INS control state information.rnPerformance was demonstrated with lateralrnposition accuracy at the centimeter level and thernfull navigation state updated at 150 Hz. Communicationrnwith the control system occurred at 30 Hz.