Navigation system for Ground Vehicle, Phase 2

The report describes a study on navigation systems for ground vehicles. Primarily, the robustness of three different basic types of navigation systems being aided by compass and wheel encoder, has been investigated for the case of total GPS-outage. The main application for the navigation systems has been light vehicles. Therefore the system has to be relatively cheap. Initially navigation systems for ground vehicles are described followed by a general practical description of sensor fusion using Kalman filter. Then three different GPS-based navigation systems, developed and implemented within this study, are described. They are based on different system models and use different sets of sensors. The robustness of the navigation systems is tested by addition of different sensor errors in Monte Carlo simulations with results given in tables. The comparison between the navigation systems that are feasible are mainly relative and of a general character. In this report only a small part of the total material generated is presented. Finally suggestions are given regarding what can be done in a continued investigation within navigation systems for ground vehicles.