The design of ultra-high integrity navigation systems for large autonomous vehicles

被引：0

作者：

Durrant-Whyte, H ^{[1
]}

Nebot, E ^{[1
]}

Scheding, S ^{[1
]}

Sukkarieh, S ^{[1
]}

Clark, S ^{[1
]}

机构：

[1] Univ Sydney, Dept Mech & Mechatron Engn, Ctr Min Technol & Equipment, Sydney, NSW 2006, Australia

来源：

EXPERIMENTAL ROBOTICS V | 1998年 / 232卷

关键词：

D O I：

暂无

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. An example implementation of these principles is described which employs a twin GPS/IMU MMW radar/encoder navigation loop.

引用

页码：252 / 261

页数：10

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