This paper describes a design of tracking algorithm for a land vehicle using stand-alone global positioning system (GPS). The algorithm comprised three major parts - a vehicle motion change detector, acceleration estimator and finally a Kalman filter with feedback. lt contains two new techniques, acceleration estimation using a sliding mode and a vehicle motion change detection algorithm, which are developed to improve navigation accuracy. The algorithm provides more accurate position information than the conventional iterated leastsquares solution, and it can easily be applied to a real-time route guidance system. Real experimental results are presented to demonstrate the advantages of the proposed algorithm.
A land vehicle tracking algorithm using stand-alone GPS
Folgeregelungsalgorithmus für ein Landfahrzeug mit Hilfe eines eigenen GPS-Systems
Control Engineering Practice ; 8 , 10 ; 1189-1196
2000
8 Seiten, 8 Bilder, 7 Quellen
Article (Journal)
English
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