People

• Christopher R. Carlson

Description

Current automotive navigation systems rely on GPS, odometer and yaw rate sensors for matching vehicle position to onboard maps. One of the leading cost drivers of these systems is the yaw gyro which is used to integrate inertial position when the GPS signal is unavailable. The goal of this research is to analyze, design and build a test prototype system that eliminates the gyro by using 4-wheel ABS sensor signals. The analysis and prototype will demonstrate the automobile navigation accuracy possible.

Results

• Model Details
• Preliminary Model Validation
• Yaw Rate Estimation from Differential Wheel Speeds
• Gyro Bias and Scale Factor Estimation Using GPS Heading

Dissertation

• Estimation with Applications for Automobile Dead Reckoning and Control
  

  Talks

  • Yaw Rate Estimation from Differential Wheel Speeds
  • A Lyapunov Function Approach to Energy Based Model Reduction
  • An Overview of GPS
  • AVEC2002 Navigation Talk

  Publications

  • Practical Position and Yaw Rate Estimation with GPS and Differential Wheelspeeds, AVEC 2002
  • Identifying Tire Pressure Variation by Nonlinear Estimation of Longitudinal Stiffness and Effective Radius, AVEC 2002

  Sponsors

  • Visteon