NDLI: Improved heading using dual speed sensors for angular rate and odometry in land navigation

Content Provider	IEEE Xplore Digital Library
Author	Rogers, R.M.
Copyright Year	1998
Description	Author affiliation: Rogers Eng. & Assoc., Gainesville, FL, USA (Rogers, R.M.)
Abstract	Two radar ground speed sensors are used in a land navigation system to provide improved heading by dampening erratic headings and removing misalignments associated with magnetic compasses. Radar ground speed sensors provide vehicle speed without contacting the ground surface and are not subject to errors such as wheel slippage normally associated with wheel encoders or odometers. Differences between the speed sensors provide a measure of angular rate which is input, along with magnetic compass heading, into a heading pre-filter. This provides an intermediate heading improvement by dampening the erratic magnetic compass heading outputs. The average of the speed sensors provide a measure of distance traveled over a sample interval. Distance traveled and the heading pre-filter's output, are used to establish a dead-reckoning navigation solution. This navigation solution is used as a reference state trajectory in a navigation Kalman filter algorithm, processing differential GPS positions as observations, to estimate position, odometer scale factor, and heading misalignment errors. The heading misalignment estimate is added to the heading pre-filter's heading estimate to provide the final heading improvement for an operator or vehicle guidance algorithm.
Starting Page	177
Ending Page	184
File Size	503520
Page Count	8
File Format	PDF
ISBN	0780343301
DOI	10.1109/PLANS.1998.670039
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-20
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic sensors Navigation Radar Wheels Velocity measurement Sensor systems Land vehicles Road vehicles Magnetic separation Global Positioning System
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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