Automated vehicle drift correction

Details Automated vehicle drift correction Automated vehicle drift correction

1986-01-06

1989-07-11

Tarcza, Thomas H.

Boots, shoes, and leggings

180168, 364447, G06F 1550

Patent

active

048477699

ABSTRACT:
An automated vehicle includes a navigation system which carries out a dead reckoning calculation of the vehicle's position based on inputs from sensors on the motion of a steering wheel in the preceding time interval, .DELTA.t. Parameters of the system including the heading angle, the spatial position x,y the angular drift in the steering angle .alpha., a crabbing angle .beta. and a variation 1.sub.dm in steering wheel radius are updated by the addition of the product of a Kalman gain calculated by computer and an error signal produced each time an observation is made by laser bearing finding equipment on the vehicle.

REFERENCES:
patent: 3683378 (1972-08-01), Polhemus
patent: 4454583 (1984-06-01), Schneiderhan et al.
patent: 4700302 (1987-10-01), Arakawa et al.
patent: 4727492 (1988-02-01), Reeve et al.

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