Accession Number:

ADA341358

Title:

Implementation and Evaluation of an INS System for the Shepherd Rotary Vehicle.

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1997-12-01

Pagination or Media Count:

114.0

Abstract:

An autonomous vehicle must be able to determine its global position even in the absence of external information input. To obtain reliable position information, this would require the integration of multiple navigation sensors and the optimal fusion of the navigation data provided by them. The approach taken in this thesis was to implement two navigation sensors for a four-wheel drive and steer autonomous vehicle An inertial measurement unit providing linear acceleration in three dimensions and angular velocity for the vehicles global motion and shaft encoders providing local motion parameters. An inertial measurement unit is integrated with the Shepherd mobile robot and data acquisition and processing software is developed. Position estimation based on shaft encoder readings is implemented. The framework for future analysis including most general motion profiles have been laid The sensors system performance was evaluated using three different linear motion profiles. Test results indicate that the shaft encoder provide a positioning accuracy better than 99 typ. 7.5 mm for 1 m motion under no slip conditions for pure translational motion. The IMU still requires further improvement to allow for both sensors to be combined to an integrated system.

Subject Categories:

  • Target Direction, Range and Position Finding

Distribution Statement:

APPROVED FOR PUBLIC RELEASE