As global navigation satellite systems (GNSS) such as GPS have grown more pervasive, the use of GNSS to automatically control ground vehicles has drawn increasing interest. This cutting-edge resource offers you a thorough understanding of this emerging application area of GNSS. Written by highly-regarded authorities in the field, this unique reference covers a wide range of key topics, including ground vehicles models, psuedolites, highway vehicle control, unmanned ground vehicles, farm tractors, and construction equipment. The book is supported with over 150 illustrations and more than 180 equations.
Table Of Contents
GNSS and Other Navigation Sensors - Global Navigation Satellite System (GNSS). Pseudolites. Inertial Navigation Systems (INS). Odometer Technology. GNSS/Inertial Integration. ; Vision Aided Navigation Systems - Lane Positioning Methods. Coordinate Frame Rotation and Translation. Waypoint-Based Maps. Aiding Position, Speed, and Heading Navigation Filter with Vision Measurements. Aiding Closely Coupled Navigation Filter with Vision Measurements.; Vehicle Modeling -Introduction. SAE Vehicle Coordinates. Bicycle Model. Tires. Roll Model. Additional Models Used in this Work. Vehicle Model Validation.; Navigation Systems -Introduction. Kalman Filter. GPS/INS Integration Architectures. Speed Estimation. Heading Estimation. Position, Speed, and Heading Estimation. Navigation in the Presence of Sideslip. Closely Coupled Integration.; Vehicle Dynamic Estimation Using GPS -Introduction. Sideslip Calculation. Vehicle Estimation. Experimental Setup. Kinematic Estimator (Single GPS Antenna). Kinematic Kalman Filter (Dual Antenna). Tire Parameter Identification. Model-Based Kalman Filter. Conclusions.; GNSS Control of Ground Vehicles -Introduction. Vehicle Model. Speed Controller. Vehicle Steering Control. Waypoint Control. Lateral Control. Implement/Trailer Control. ; Pseudolites for Vehicle Navigation - Pseudolite Applications. Pseudolite Systems.; Appendix. About the Authors. Index.;