Bevly David M., Cobb S. GNSS for Vehicle Control

Artech House, 2009. — 285 p. — ISBN13: 978-1-59693-301-9.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.GNSS and Other Navigation Sensors
Global Navigation Satellite System (GNSS
Description of a Typical GNSS
Simple (Pseudorange) GNSS Navigation
Differential GNSS Navigation
Precise (RTK) GNSS Navigation
Current and Future GNSS Constellations
Pseudolites
Pseudolite Basics
Pseudolite/GNSS Navigation
Differential Pseudolite/GNSS Navigation
Pseudolite Self-Synchronization
Stand-Alone Pseudolite Navigation
Conflicts with GNSS Frequencies
Inertial Navigation Systems (INS)
Linear Inertial Instruments: Accelerometers
Angular Inertial Instruments: Gyroscopes
Ideal Inertial Navigation
Sensing Earth Effects
Inertial Instrument Errors
Inertial Error Propagation
Odometer Technology
Quantization
Wheel Slip
Wheel Radius Error
GNSS/Inertial IntegrationVision Aided Navigation Systems
Lane Positioning Methods
Lidar-Based Positioning
Camera-Based Positioning
Coordinate Frame Rotation and Translation
Two-Dimensional Rotations
Three-Dimensional Rotations
Coordinate Frame Translation
Global Coordinate Frame Rotations
Waypoint-Based Maps
Aiding Position, Speed, and Heading Navigation
Filter with Vision Measurements
Two-Dimensional Map Construction
Measurement Structure
Checking Waypoint Map Position
Results
Aiding Closely Coupled Navigation Filter
with Vision Measurements
Three-Dimensional Map Construction
Measurement Structure
Checking Waypoint Map Position
ResultsVehicle ModelingSAE Vehicle Coordinates
Bicycle Model
Basics
Understeer Gradient
Four-Wheel Bicycle Model
Tires
Basics
Contact Patch and Slip
Tire Models
Roll Model
Free Body Diagram
Equation of Motion
State Space Representation
Additional Models Used in this Work
Two-Wheeled Vehicle
Trailer Model
Vehicle Model ValidationNavigation SystemsKalman Filter
GPS/INS Integration Architectures
Loose Coupling
Close Coupling
Speed Estimation
Accelerometer and GPS
Accelerometer, GPS, and Wheel Speed
Heading Estimation
Position, Speed, and Heading Estimation
Coordinate Conversion
Accelerometer, Yaw Rate Gyroscope, GPS,
and Wheel Speed
Navigation in the Presence of Sideslip
Generation of Sideslip
Sideslip Compensation with a Dual
Antenna GPS Receiver
Closely Coupled IntegrationVehicle Dynamic Estimation Using GPSSideslip Calculation
Vehicle Estimation
Experimental Setup
Test Scenarios
Kinematic Estimator (Single GPS Antenna)
Kinematic Kalman Filter (Dual Antenna)
Tire Parameter Identification
Model-Based Kalman Filter
Linear Tire Model
Nonlinear Tire Model
Estimator Accuracies
ConclusionsGNSS Control of Ground VehiclesVehicle Model
Speed Controller
Vehicle Steering Control
Classical Steer Angle Controller
Classical Yaw Rate Controller
Waypoint Control
Heading Model
Heading Error Calculations
Heading Control
Simulation Results
Lateral Control
Error Calculation
Lateral Position Model
Lateral Position Control
Simulation Results
Implement/Trailer Control
Trailer Model
Error Calculation
Trailer Control
Simulation ResultsPseudolites for Vehicle Navigation
Pseudolite Applications
Open-Pit Mining
Construction Sites
Urban Navigation
Indoor Applications
Pseudolite Systems
IntegriNautics IN400
Novariant Terralite XPS System
Locata LocataLitesEstimation Methods
A.1 Introduction
A.2 System Model
A.3 Discretization
A.4 Least Squares
A.5 Weighted Least Squares
A.6 Recursive Weighted Least Squares
A.7 Kalman Filter
A.8 Extended Kalman Filter
A.9 InitializationAbout the Authors