Title: Compensation of vehicle dynamic induced navigation errors with dual antenna GPS attitude measurements

Authors: William Travis, David M. Bevly

Addresses: GPS and Vehicle Dynamics Laboratory, Department of Mechanical Engineering, Auburn University, 270 Ross Hall, Auburn, AL 36849, USA. ' GPS and Vehicle Dynamics Laboratory, Department of Mechanical Engineering, Auburn University, 270 Ross Hall, Auburn, AL 36849, USA

Abstract: This paper examines the effect of sideslip on typical kinematic navigation models that neglect lateral vehicle dynamics. A kinematic model accounting for sideslip and requiring no knowledge of vehicle parameters was developed. The expanded model shows improvements to traditional modelling and emphasises the need to include sideslip for improved navigational accuracy with and without GPS. Future control systems, such as lane keeping, will require this higher accuracy to perform properly. Sideslip was calculated using a dual antenna GPS receiver and only required simple geometric vehicle knowledge. A non-linear vehicle simulation was developed and used to demonstrate the effects of sideslip on navigation solutions in a controlled setting. Experimental data is examined from an emergency lane change manoeuvre to display errors in navigation estimates caused by sideslip. Results show the model including sideslip provides a higher accuracy navigation estimate.

Keywords: vehicle dynamics; vehicle navigation; navigation errors; sideslip; dual antenna GPS; Kalman filter; estimation; kinematic modelling; navigation accuracy; global positioning systems; simulation; emergency lane change.

DOI: 10.1504/IJMIC.2008.020119

International Journal of Modelling, Identification and Control, 2008 Vol.3 No.3, pp.212 - 224

Published online: 28 Aug 2008 *

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