Heuristic reduction of gyro drift in vehicle tracking applications Online publication date: Sun, 09-Aug-2009
by Johann Borenstein, Lauro Ojeda
International Journal of Vehicle Information and Communication Systems (IJVICS), Vol. 2, No. 1/2, 2009
Abstract: This paper pertains to the reduction of measurement errors due to drift in rate gyros used for tracking the position of moving vehicles. In these applications, gyros and odometry are often used to augment GPS when GPS reception is unavailable. Drift in gyros causes the unbounded growth of errors in the estimation of heading, rendering low-cost gyros almost entirely useless in applications that require good accuracy for more than just a few seconds or minutes. Our proposed method, called 'Heuristic Drift Reduction' (HDR), applies a unique closed-loop control system approach to estimate drift in real time and remove the estimated drift instantaneously from the gyro reading. The paper presents results of experiments, in which a gyro-equipped car was driven hundreds of miles on highways, rural roads and city streets. HDR reduced the average heading error over all of these drives by one order of magnitude.
Online publication date: Sun, 09-Aug-2009
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Information and Communication Systems (IJVICS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email firstname.lastname@example.org