Analysis of a Differential Global Positioning System as a Sensor for Vehicle Guidance

Bodor, Robert; Alexander, Lee; Liao, Chen-Fu; Bajikar, Sundeep; Morellas, Vassilios; Donath, Max

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Analysis of a Differential Global Positioning System as a Sensor for Vehicle Guidance

1996-09-01
By Bodor, Robert ; Alexander, Lee ; Liao, Chen-Fu

File Language:

English

Details

Creators:

Bodor, Robert ; Alexander, Lee ; Liao, Chen-Fu ; Bajikar, Sundeep ; Morellas, Vassilios ; Donath, Max
Corporate Creators:

University of Minnesota. Dept. of Mechanical Engineering
Corporate Contributors:

Minnesota Department of Transportation ; Minnesota. Dept. of Transportation. Office of Minnesota Road Research ; Minnesota Guidestar
Subject/TRT Terms:
Publication/ Report Number:

MN/RC-97/17
Resource Type:

Tech Report
Geographical Coverage:

United States
Edition:

Final 1996
Corporate Publisher:

Minnesota. Department of Transportation
Abstract:

An ongoing research project examines guidance systems, which can take over control of a vehicle if the driver becomes incapacitated. Part of this project includes an evaluation of a Differential Global Positioning System (DGPS) for vehicle-based lane sensing. This report documents the results of tests of the 5 Hz NovAtel RT20 DGPS receiver. A series of 32 static tests found the overall mean and standard deviation for the offset errors within specifications. In a series of dynamic tests, in which the vehicle was driven around the track at speeds of 20-35 mph (32-56 kph), after removing the effect of the GPS receiver's latency, the DGPS determined position exhibited a mean offset error of -17.3 cm (-6.82 in.) and a mean standard deviation of 25.5 cm (10.1 in.) in the direction of vehicle motion. In the direction perpendicular to vehicle motion, the mean offset was 4.57 cm (1.8 in.) with a mean standard deviation of 39.6 cm (15.6 in.). With no overhead obstructions in these tests, continuous satellite lock was possible. Tests at higher speeds based on a more accurate methodology are planned for the future.
Format:

PDF
Funding:

73168 TOC #174
Download URL:

https://rosap.ntl.bts.gov/view/dot/57365/dot_57365_DS1.pdf
File Type:

[PDF - 3.45 MB]
Collection(s):

Autonomous Vehicles ; US Transportation Collection
Main Document Checksum:

urn:sha-512:ab1cbd2933eed139b7e0045fdd624846c5359ad1bb4c3ffbbdb14a1e4e879c8d1568d3299149d03c1d168d7dc7e3dcf16872656e712848831d0082e546982b8c

File Language:

English

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