GNSS for Vehicle Control

Name: GNSS for Vehicle Control
Brand: Artech House
Price: 135.39 EUR
Availability: OnlineOnly

David M. Bevly(Autor*in)

Artech House (Verlag)

1. Auflage

Erschienen am 1. Januar 2010

284 Seiten

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978-1-59693-302-6 (ISBN)

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Inhalt

GNSS for Vehicle Control
Contents
Preface
Acknowledgments
1 GNSS and Other Navigation Sensors
1.1 Global Navigation Satellite System (GNSS)
1.1.1 Description of a Typical GNSS
1.1.2 Simple (Pseudorange) GNSS Navigation
1.1.3 Differential GNSS Navigation
1.1.4 Precise (RTK) GNSS Navigation
1.1.5 Current and Future GNSS Constellations
1.2 Pseudolites
1.2.1 Pseudolite Basics
1.2.2 Pseudolite/GNSS Navigation
1.2.3 Differential Pseudolite/GNSS Navigation
1.2.4 Pseudolite Self-Synchronization
1.2.5 Stand-Alone Pseudolite Navigation
1.2.6 Conflicts with GNSS Frequencies
1.3 Inertial Navigation Systems (INS)
1.3.1 Linear Inertial Instruments: Accelerometers
1.3.2 Angular Inertial Instruments: Gyroscopes
1.3.3 Ideal Inertial Navigation
1.3.4 Sensing Earth Effects
1.3.5 Inertial Instrument Errors
1.3.6 Inertial Error Propagation
1.4 Odometer Technology
1.4.1 Quantization
1.4.2 Wheel Slip
1.4.3 Wheel Radius Error
1.5 GNSS/Inertial Integration
References
2 Vision Aided Navigation Systems
2.1 Lane Positioning Methods
2.1.1 Lidar-Based Positioning
2.1.2 Camera-Based Positioning
2.2 Coordinate Frame Rotation and Translation
2.2.1 Two-Dimensional Rotations
2.2.2 Three-Dimensional Rotations
2.2.3 Coordinate Frame Translation
2.2.4 Global Coordinate Frame Rotations
2.3 Waypoint-Based Maps
2.4 Aiding Position, Speed, and Heading Navigation Filter with Vision Measurements
2.4.1 Two-Dimensional Map Construction
2.4.2 Measurement Structure
2.4.3 Checking Waypoint Map Position
2.4.4 Results
2.5 Aiding Closely Coupled Navigation Filter with Vision Measurements
2.5.1 Three-Dimensional Map Construction
2.5.2 Measurement Structure
2.5.3 Checking Waypoint Map Position
2.5.4 Results
References
3 Vehicle Modeling
3.1 Introduction
3.2 SAE Vehicle Coordinates
3.3 Bicycle Model
3.3.1 Basics
3.3.2 Understeer Gradient
3.3.3 Four-Wheel Bicycle Model
3.4 Tires
3.4.1 Basics
3.4.2 Contact Patch and Slip
3.4.3 Tire Models
3.5 Roll Model
3.5.1 Free Body Diagram
3.5.2 Equation of Motion
3.5.3 State Space Representation
3.6 Additional Models Used in this Work
3.6.1 Two-Wheeled Vehicle
3.6.2 Trailer Model
3.7 Vehicle Model Validation
References
4 Navigation Systems
4.1 Introduction
4.2 Kalman Filter
4.3 GPS/INS Integration Architectures
4.3.1 Loose Coupling
4.3.2 Close Coupling
4.4 Speed Estimation
4.4.1 Accelerometer and GPS
4.4.2 Accelerometer, GPS, and Wheel Speed
4.5 Heading Estimation
4.6 Position, Speed, and Heading Estimation
4.6.1 Coordinate Conversion
4.6.2 Accelerometer, Yaw Rate Gyroscope, GPS, and Wheel Speed
4.7 Navigation in the Presence of Sideslip
4.7.1 Generation of Sideslip
4.7.2 Sideslip Compensation with a Dual Antenna GPS Receiver
4.8 Closely Coupled Integration
References
5 Vehicle Dynamic Estimation Using GPS
5.1 Introduction
5.2 Sideslip Calculation
5.3 Vehicle Estimation
5.4 Experimental Setup
5.4.1 Test Scenarios
5.5 Kinematic Estimator (Single GPS Antenna)
5.6 Kinematic Kalman Filter (Dual Antenna)
5.7 Tire Parameter Identification
5.8 Model-Based Kalman Filter
5.8.1 Linear Tire Model
5.8.2 Nonlinear Tire Model
5.8.3 Estimator Accuracies
5.9 Conclusions
Acknowledgments
References
6 GNSS Control of Ground Vehicles
6.1 Introduction
6.2 Vehicle Model
6.3 Speed Controller
6.4 Vehicle Steering Control
6.4.1 Classical Steer Angle Controller
6.4.2 Classical Yaw Rate Controller
6.5 Waypoint Control
6.5.1 Heading Model
6.5.2 Heading Error Calculations
6.5.3 Heading Control
6.5.4 Simulation Results
6.6 Lateral Control
6.6.1 Error Calculation
6.6.2 Lateral Position Model
6.6.3 Lateral Position Control
6.6.4 Simulation Results
6.7 Implement/Trailer Control
6.7.1 Trailer Model
6.7.2 Error Calculation
6.7.3 Trailer Control
6.7.4 Simulation Results
References
7 Pseudolites for Vehicle Navigation
7.1 Pseudolite Applications
7.1.1 Open-Pit Mining
7.1.2 Construction Sites
7.1.3 Urban Navigation
7.1.4 Indoor Applications
7.2 Pseudolite Systems
7.2.1 IntegriNautics IN400
7.2.2 Novariant Terralite XPS System
7.2.3 Locata LocataLites
References
Appendix Estimation Methods
A.1 Introduction
A.2 System Model
A.3 Discretization
A.4 Least Squares
Example A.1
A.5 Weighted Least Squares
Example A.2
A.6 Recursive Weighted Least Squares
A.7 Kalman Filter
A.8 Extended Kalman Filter
A.9 Initialization
References
About the Authors
Index

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