GPS-free terrain-based vehicle tracking performance as a function of inertial sensor characteristics

Kshitij Jerath, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Pages367-374
Number of pages8
DOIs
StatePublished - Dec 1 2011
EventASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 - Arlington, VA, United States
Duration: Oct 31 2011Nov 2 2011

Publication series

NameASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Volume2

Other

OtherASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
CountryUnited States
CityArlington, VA
Period10/31/1111/2/11

All Science Journal Classification (ASJC) codes

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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    Jerath, K., & Brennan, S. N. (2011). GPS-free terrain-based vehicle tracking performance as a function of inertial sensor characteristics. In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 (pp. 367-374). (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011; Vol. 2). https://doi.org/10.1115/DSCC2011-5938