Tightly-coupled GPS / INS system design for autonomous urban navigation

I. Miller, B. Schimpf, M. Campbell, J. Leyssens
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引用次数: 30

Abstract

This paper analyzes the design decisions made in building the tightly-coupled position, velocity, and attitude estimator used as a position feedback signal for autonomous navigation in Cornell University's 2007 DARPA urban challenge robot, 'Skynet.' A statistical sensitivity analysis is conducted on Skynet's estimator by examining the changes in its output as critical design decisions are reversed. The effects of five design decisions are considered: map aiding via computer vision algorithms, inclusion of differential corrections, filter integrity monitoring, WAAS augmentation, and inclusion of carrier phases. The effects of extensive signal blackouts are also considered. All estimator variants are scrutinized both in a statistical sense and in a practical sense, by comparing each variant's performance on logged data recorded at the 2007 DARPA urban challenge.
面向城市自主导航的紧密耦合GPS / INS系统设计
本文分析了构建紧密耦合的位置、速度和姿态估计器的设计决策,该估计器用于康奈尔大学2007年DARPA城市挑战机器人“天网”的自主导航位置反馈信号。对天网的估计器进行了统计敏感性分析,通过检查关键设计决策被逆转时其输出的变化。考虑了五种设计决策的影响:通过计算机视觉算法进行地图辅助、包含微分校正、滤波器完整性监测、WAAS增强和包含载波相位。广泛的信号中断的影响也被考虑。通过比较2007年DARPA城市挑战赛中记录的日志数据上的每个变量的性能,从统计意义和实际意义上仔细检查了所有的估算器变体。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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