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Vehicle guidance system using DGPS and geomagnetic direction sensor

机译：使用DGPS和地磁方向传感器的车辆导航系统

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A positioning system is an essential part for an autonomous vehicle. Recent researches have shown that positioning based on a GPS offers high possibility for fulfilling the vehicle guidance. When eunuch number of satellites and high GDOP are assured, a current RTK-GPS can achieve accuracy of 1-2 cm error. However, the RTK-GPS is still costly for farm use. Therefore, the paper dealt with utilization of the low cost Differential-GPS (DGPS) for the vehicle guidance system. In the paper, two guidance systems (NAV-l and NAV-2) with a DGPS and a Geomagnetic Direction Sensor (GDS have been developed. The NAV-1 could navigate the vehicle to the desired position with the heading angle sensed by the GDS and desired heading angle cyclically updated by the DGPS with 0.5 m error. An another system, the NAV-2 could make the vehicle travel along a straight path using a lateral error from a desired path using both the DGPS and the GDS. Noise of lateral error caused by DGPS measurement error was filtered out by combining a moving average with an AR model.
机译：定位系统是自动驾驶汽车的重要组成部分。最近的研究表明，基于GPS的定位为实现车辆导航提供了很高的可能性。当确保了足够多的卫星和较高的GDOP时，当前的RTK-GPS可以实现1-2 cm的误差精度。但是，RTK-GPS对于农场使用来说仍然很昂贵。因此，本文涉及将低成本差分GPS（DGPS）用于车辆导航系统。在本文中，已经开发了两个带有DGPS和地磁方向传感器（GDS）的制导系统（NAV-1和NAV-2），NAV-1可以以GDS感测到的航向角将车辆导航到所需位置DGPS会以0.5 m的误差周期性地更新期望的航向角，而另一种系统，NAV-2可以利用DGPS和GDS的期望路径产生的横向误差使车辆沿着直线路径行驶。 DGPS测量误差引起的误差通过将移动平均值与AR模型结合来滤除。

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