Control of Heavy Duty Vehicle

Advanced Vehicle Location
Enabling Technologies

1. INTEGRATION OF GPS/INS AND MAGNETIC MARKERS FOR ADVANCED VEHICLE CONTROL

Task Order 4213

Jay Farrell, University of California, Riverside
farrell@ee.ucr.edu, http://www.ee.ucr.edu/~farrell/

This project is a continuation of MOU391. It concludes an ongoing project to design, develop and evaluate the robustness of a vehicle positioning system by integrating the magnetometer system developed at PATH with a GPS/INS system developed under MOU 292 to achieve the performance and reliability necessary for automated vehicle control. The integrated system will fuse information from the magnetometer and GPS/INS systems to reliably maintain the vehicle control state. The fusion algorithm will be derived using optimal estimation methods, and C codes will be implemented. MATLAB-based observability and covariance analysis will also be performed to determine the soundness of the integrated sensing system for various combinations of the available sensors. Finally, a demonstration of closed loop vehicle control based on data from the integrated system will be performed on a PATH vehicle.

Online papers: PRR-98-28.pdf (1.7 mb)