A high integrity navigation architecture for outdoor autonomous vehicles

被引：28
|
作者：
Nebot, EM [1 ]
Durrant-Whyte, H [1 ]
机构：
[1] Univ Sydney, Dept Mech & Mechatron Engn, Australian Ctr Field Robot, Sydney, NSW 2006, Australia
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 1999年 / 26卷 / 2-3期
关键词：
high integrity navigation; millimeter wave radar; multi-loop architecture; GPS/INS;
D O I：
10.1016/S0921-8890(98)00062-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes the design of a high integrity navigation system for use in large autonomous mobile vehicles. A frequency domain model of sensor contributions to navigation system performance is used to study the performance of a conventional navigation loop. On the basis of this, a new navigation system structure is introduced which is capable of detecting faults in any combination of navigation sensors. A decentralised architecture is also presented for the fusion of information from different asynchronous sources. An example implementation of these principles is described which employs a twin GPS/inertial navigation system and a millimeter wave radar/encoder navigation loop. (C) 1999 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：81 / 97
页数：17
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