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[...]... to data measured on a particular vehicle Chapter 5 describes methods for estimating parameters specific to fourwheeled vehicles, which are critical for modeling and control of vehicles These estimated parameters can then be incorporated into a mathematical model of that specific vehicle for online vehicle modeling and vehicle control Chapter 6 develops and analyzes control algorithms tuned to the models... GNSS for Vehicle Control 6.6 6.6.1 6.6.2 6.6.3 6.6.4 Lateral Control Error Calculation Lateral Position Model Lateral Position Control Simulation Results 192 193 198 200 203 6.7 6.7.1 6.7.2 6.7.3 6.7.4 Implement/Trailer Control Trailer Model Error Calculation Trailer Control Simulation Results 203 204 206 208 210 References 212 7 Pseudolites for Vehicle Navigation 215 7.1... develop vehicle control and estimation algorithms for tasks such as autonomous steering and electronic stability control (ESC) The problem of guidance is not so easy to generalize Each type of vehicle has different constraints on the routes it can take In addition, a given vehicles mission imposes other goals and constraints not shared even by similar vehicles on different missions Guidance is therefore... Systems (GNSS) such as GPS have grown more pervasive, the use of GNSS to automatically control ground vehicles has drawn increasing interest From autonomously driven vehicles such as those demonstrated in the DARPA grand challenges to automatically steered farm tractors, automated mining equipment, and military unmanned ground vehicles (UGVs), practical and potential applications of GNSS to ground vehicles... States GPS will be used as an example GPS is the most thoroughly studied GNSS, and the most useful at present   GNSS for Vehicle Control 1.1.1õ Description of a Typical GNSS A GNSS receiver navigates by precisely measuring the range between its antenna and a set of transmitter antennas at precisely known locations, and then performing a triangulation algorithm to determine its position This is not...  GNSS for Vehicle Control 1.1.3.3õ Wide Area Differential GNSS Navigation The network GPS concept can be extended to cover an entire continent This is known as wide area differential GNSS navigation (WADGPS) With many widely spaced reference receivers, the network can track a GNSS satellite over a large fraction of its orbit By doing so, the network can compute accurate ephemeris and clock information... before any satellites had been launched 1.2.3õ Differential Pseudolite /GNSS Navigation Precise clocks are expensive, and synchronizing them to GNSS system time can be difficult An alternative is to build pseudolites with less expensive, 16 GNSS for Vehicle Control less precise clocks, and to use a separate fixed receiver to provide differential corrections This is an extension of the differential GNSS. .. ground vehicles Chapter 4 describes navigation algorithms that combine the data from these sensors to provide the best available estimate of position and velocity Control algorithms are different for every vehicle; buses, boats, and bicycles are steered in very different ways Chapter 3 describes mathematical models for various categories of vehicles, with a particular emphasis on common four-wheeled vehicles... Lidar with global measurements from GPS and a map database to form a robust measurement of position in the lane Chapter 3 introduces models for vehicles, tires, suspensions, and trailers These models describe the behavior of highway vehicles such as passenger cars and SUVs as well as off-road vehicles such as farm tractors and unmanned ground vehicles (UGVs) This chapter describes the lateral and longitudinal... transmitted, with an error of a few nanoseconds Each GNSS has a master control center, which constantly listens to the satellite signals through receivers in several different locations It uses this information to compute the exact orbits and clock drift corrections for all the satellites, and transmits this information to each satellite in turn This information is then broadcast by the satellite as part . GNSS for Vehicle Control For a list of titles in the Artech House GNSS Technology and Applications Series, please turn to the back of the book. GNSS for. References 172 6 GNSS Control of Ground Vehicles 175 6.1 Introduction 175 6.2 Vehicle Model 175 6.3 Speed Controller 179 6.4 Vehicle Steering Control 181 6.4.1