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On rate gyros for i...
On rate gyros for improved navigation by reducing dead-reckoning errors
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- Larsson, Ulf (author)
- Luleå tekniska universitet
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- Chenevier, F. (author)
- Luleå tekniska universitet
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- Wernersson, Åke (author)
- Luleå tekniska universitet,EISLAB
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(creator_code:org_t)
- Oxford : Pergamon Press, 1998
- 1998
- English.
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In: Elsevier IFAC Publications / IFAC Proceedings series. - Oxford : Pergamon Press. - 1474-6670. ; 31:3, s. 207-212, s. 207-212
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
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- Consider a vehicle using a number of landmarks for navigation. Between the observation of the landmarks, the motion of the vehicle is estimated using internal sensors like odometers and rate gyros. The output from a dead reckoning algorithm is used in a Kalman filter and/or used to make association of observed landmarks. In such a system the accuracy of the dead reckoning algorithm is essential for the overall performance. In the paper `slip angles' at the wheel-surface contact point are included in the kinematic model. The slip angle is assumed to be essentially proportional to the side force. The topics considered in the paper are: dead reckoning model with a slip angle; improved dead reckoning when a rate gyro is used; and equations for comparing the error growth. Four different algorithms for dead reckoning are studied and compared. Two of them just model the slippage and two of them are based on more accurate measurements of rotation, using a rate gyro
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Keyword
- Industrial Electronics
- Industriell elektronik
Publication and Content Type
- ref (subject category)
- art (subject category)
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