CALIBRATION OF DEAD RECKONING SENSORS AND GPS/DR INTEGRATION

In this paper, two calibration methods for dead-reckoning system (DR) are presented: self-calibration algorithm and global positioning system (GPS) calibration algorithm. DR is composed of heading and displacement sensors. A single-axis-gyroscope and flux gate are used as heading sensor, and wheel odometer as displacement sensor. The error characteristic of gyroscope is heavily related to time. The flux gate error is not related to time, but influenced by external magnetic source. It shows irregular errors about time. Calibration of these sensors should be accomplished by different means. The self-calibration algorithm of these two sensors is presented via compensation of flux gate magnetic bias and gyroscope drift. An algorithm is proposed that estimates the flux gate magnetic bias through slow rotation of the vehicle. Also, by identifying the gyroscope turn-on characteristics, the calibration model of the gyroscope can be constructed. Combining them, the two sensors correct each other appropriately. By using the vehicle speed and heading angle calculates from GPS signal, the GPS-based calibration algorithm separately correct heading and wheel odometer errors. When GPS signal is unavailable, vehicle position is determined by DR only. However, even in that case, DR corrected by self-calibration and GPS-based calibration algorithm together can prevent position error from growing larger. Some simulations and field-test results are presented to evaluate the proposed algorithms. From field-test results, it is determined that DR can be successfully calibrated by self-calibration and GPS-based calibration algorithm.

  • Supplemental Notes:
    • Five volumes of papers and one volume of abstracts comprise the published set of conference materials.
  • Corporate Authors:

    VERTIS

    TORANOMOM 34 MORI BUILDING 1-25-5
    TORANOMON, MINATOKU, TOKYO 105  Japan 
  • Authors:
    • Kim, J
    • JEE, G-I
    • Lee, J-G
    • Sung, T-K
  • Conference:
  • Publication Date: 1995-11

Language

  • English

Media Info

  • Pagination: p. 547

Subject/Index Terms

Filing Info

  • Accession Number: 00721137
  • Record Type: Publication
  • Report/Paper Numbers: Volume 2
  • Files: TRIS
  • Created Date: May 26 1996 12:00AM