GPS-Free Terrain-Based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics
GPS-Free Terrain-Based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics
复制标题
作为惯性传感器特性函数的无 GPS 地形车辆跟踪性能
DOI：
10.1115/dscc2011-5938
复制
发表时间：
2011
影响因子：
6.5
通讯作者：
S. Brennan
中科院分区：
文献类型：
--
作者：
Kshitij Jerath;S. Brennan
先前的实验已经证实，特定的基于地形的定位算法，设计工作在GPS自由或退化的GPS环境，实现车辆跟踪与战术级惯性传感器。然而，这些算法使用低成本的惯性传感器与劣质规格的车辆跟踪性能尚未得到验证。所包括的工作识别，通过模拟，惯性传感器特性对车辆跟踪精度的影响时，使用特定的基于地形的跟踪算法的基础上Unscented卡尔曼滤波器。结果表明，车辆跟踪是可以实现的，即使使用低成本的惯性传感器与劣质规格。然而，车辆跟踪的精度近似线性下降的偏差不稳定性和角度随机游走系数的增加。结果还表明，随着传感器成本的增加，车辆跟踪误差的方差渐近趋于零。简而言之，随着所需精度的提高，需要越来越多的可量化投资来提高车辆跟踪精度。Copyright © 2011 by ASME
Prior experiments have confirmed that specific terrain-based localization algorithms, designed to work in GPS-free or degraded-GPS environments, achieve vehicle tracking with tactical-grade inertial sensors. However, the vehicle tracking performance of these algorithms using low-cost inertial sensors with inferior specifications has not been verified. The included work identifies, through simulations, the effect of inertial sensor characteristics on vehicle tracking accuracy when using a specific terrain-based tracking algorithm based on Unscented Kalman Filters. Results indicate that vehicle tracking is achievable even when low-cost inertial sensors with inferior specifications are used. However, the precision of vehicle tracking decreases approximately linearly as bias instability and angle random walk coefficients increase. The results also indicate that as sensor cost increases, the variance in vehicle tracking error asymptotically tends to zero. Put simply, as desired precision increases, increasingly larger and quantifiable investment is required to attain an improvement in vehicle tracking precision.Copyright © 2011 by ASME