Vehicle Heading Determination Using Only Single-antenna GPS and a Single Gyro.
PROCEEDINGS OF THE 22ND INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2009).
(pp. 1775 - 1784).
QinetiQ has developed a system for determining land vehicle heading using a single yaw-axis gyroscope and the velocity solution from single-antenna GPS.The system was developed for the indication of target locations to the military using augmented reality. Other suitable applications include land-vehicle navigation using odometers, mobile-mapping and georeferencing, surveillance, search and rescue and designation of military target locations.Heading determination methods are reviewed and the benefits of the GPS/gyro approach discussed. This is followed by a discussion of the challenges involved in determining land-vehicle heading from velocity, including handling noise and resolving the divergence of heading and track during turns. The challenges of obtaining heading changes from a single gyro are then described, including the need to deal with banked, sloping and uneven terrain, sensor mounting misalignments and vehicle roll.A summary of QinetiQ's heading determination algorithm is followed by a discussion of simulation testing. A trial conducted on a Land Rover 110 is then described. This comprised an initial stationary period, followed by a mixture of straight travel and turns, including periods on sloping roads and variations in the road surface quality. A root mean square heading accuracy within 0.5 degrees was obtained using a fibre optic gyro.
|Title:||Vehicle Heading Determination Using Only Single-antenna GPS and a Single Gyro|
|Event:||22nd International Technical Meeting of the Satellite Division of the Institute-of-Navigation (ION GNSS-09)|
|Dates:||2009-09-22 - 2009-09-25|
|UCL classification:||UCL > School of BEAMS > Faculty of Engineering Science > Civil, Environmental and Geomatic Engineering|
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