A compensated system design for GPS failure using sensor fusion. system

Transcription

1 compensaed ssem design o GPS aiue using senso usion ssem Shun Hung hen, han Wei Hsu, Shih hieh Huang, hun Hsiung hen * uomoive Reseach and esing ene, hanghua aiwan EL: e.364 E-mai: sane_chen@ac.og.w bsac his pape pesens a senso usion ssem ha can assis he vehice o sove he ocaiaion pobem since he GPS signa is os. Genea, he GPS signa is os when he vehice is maneuveed unde shees, o eampe, in a unne, hiside, deep vae, indoo paking gaage, ec. n such siuaion, he ineia measuemen sensos ae appied o esimae he posiion o vehice, he acceeomee and goscope ae used o cacuae he ongiudina and aea sae o he vehice, especive. Moeove, he posiion esimaion o he vehice on a amp is aso consideed in his pape. Howeve, he esimaion eos ae accumuaed so ha he eos o he senso usion ssem ae hus inceased. n ode o incease he esimaion accuac o vehice posiion, he kinemaic ie mehod is uiied o inegae he inomaion om senso usion ssem o coec he pesen and o pedic he poseio ocaion pecise. he epeimena esus demonsae ha ou senso usion ssem can ocaie he vehice since he GPS signa is os. Kewods: Kinemaic Kaman Fie, GPS, Senso Fusion Ssem, ehice ocaiaion.

2 . noducion o sove he pobem o auonomous navigaion, Leonad e a. [8] successu used si ied sonas which ae assembed on a mobie obo o deec he ambien envionmen and igue ou Whee am? in an indoo aea. he sona senso have been appied in man mehodoogies o ocaiaion, such as simuaneous ocaiaion and mapping SLM [][4][], Mone ao ocaiaion [9][3][5], ec. n oudoo envionmen, howeve, he Goba Posiioning Ssem GPS is easie and moe eiabe han ineia measuemen unis MU o ocaie he posiion o he vehice [4]. he GPS modue is enabe o povide he measuemens o vehice posiion, heading, and ineia veoci. Unde he bes condiion, e.g. geae han o equa o eigh saeies, he GPS posiioning eo has a sandad deviaion o ess han 3 mees. Wheeas, since he numbe o saeies is ess han eigh due o he shee om unne, vegeaion o buidings, he aveage eos ae inceased even ocaiing aiue. n such siuaion, he vehice is aveed in a pace, which is simia o he indoo envionmen. heeoe, o design a senso usion ssem o assis he GPS modue o vehice ocaiaion is necessa. he ineia measuemen sensos, which have he uncion o deemining he acceeaion, pich ae, aw ae o a vehice ae abe o acke he vehice ocaiaion pobem, o eampe, he auonomous vehice is equipped he ineia sensos incuding BE -MGS, Ha senso, high-pecision opica encode o deec he veoci and seeing ange, especive, o aid a GPS eceive o vehice ocaiaion [7]. Wachko e a. [6] indicaed ha he peomance o GPS is esiced o he H updae ae which coud no povide he pecise navigaion inomaion aone, heeoe design o an ineia navigaion ssem b inegaing MU and digia compass o ineace he signa om GPS modue coud incease he accuac o ocaiaion esu. Simia o he esus o [6], Heme e a. inegaed NS and odomee o navigae a vehice when GPS signa is os [5]. he navigaion pocess b inegaing NS and odomee is peomed ea ime and is samped a H so ha when GPS signa is unavaiabe, he inegaing navigaion ssem is possibe o obain sma eos. he daa snchoniaion, mui-ae opeaion, ec. ae dea wih accoding. hough he ineia measuemen sensos ae abe o sove he vehice ocaiaion when GPS signa is unavaiabe, he eo inheen migh cause he esimaing esus divegen. hus, using a eiabe mehodoog o cacuae he ocaiaion inomaion and ejec hose eos is impoan. n man invesigaions, he Kaman ie [][3][6][][7] is he mos popua mehod o accoun o ajeco pedicion and noise ejecion. he Kaman ie appies dnamic mode o a ssem and obains he cono inpus and measuemens o his mode, and hen he esimaion o he ssem s vaing quaniies is omuaed. his esimaion esu is bee han he esimaion impemened b using an ohe measuemen on. n ou invesigaion, an esimao based on kinemaic eaionships,

3 named kinemaic Kaman ie, is empoed o inegae GPS and senso usion inomaion. Moeove, sma oad gade is aso consideed in his invesigaion, some gavi componens ae compensaed simuaneous. he senso usion ssem in his pape is composed o acceeomee, goscope, odomee, and geabo speed senso and he vehicua acceeaion, heading diecion, veoci can be esimaed especive. Unde he bes condiions, i.e. moe hen eigh saeies, he senso usion inomaion is caibaed b GPS signa, and vice vesa. B using GPS signa and senso usion inomaion, a vehice ocaiaion pobem o eneing a unne is invesigaed. onside he unne is consuced in sububan, he muipah eec in GPS is easonab o be ignoed and he noise in he senso usion ssem is easonab we-behaved. n genea, he equiemens o aea posiion eo cause singen eec on ocaiaion han he equiemens o ongiudina eo []. Hence, a aea kinemaic mode is omuaed o kinemaic Kaman ie o esimae he posiion and eiminae he eo o ineia measuemen sensos. his pape is oganied as oows: in secion, a kinemaic mode o ou-whee and on-seeing vehice is descibed. n he hid secion, a kinemaic Kaman ie scheme is adoped o esimae he vehicua posiion and dispose o he eo o ineia measuemen sensos. he epeimena esus ae demonsaed and discussed in he ne secion. Fina, he concusions o his pape ae pesened.. Kinemaic Mode simpe mechanism o a ou-whee vehice can be descibed bie in a bicce mode and is shown in igue. n igue, he aea kinemics o he bicce mode can be omuaed accoding o Newon s second aw, such as F m mg sin θ δ bank whee is he veoci o vehice and is he aea veoci, m is he mass o vehice, is he vehice aw ae, δ is vehice seeing ange, epesens he sidesip ange, is θbank vehice o ange, and epesen he disances om he cene o mass o vehice o he on and ea whee, especive. and ae he oa on and ea coneing siness. Soving o he sidesip ae and aw acceeaion, we have 3

4 4 Figue - he schema o bicce mode bank F F m mg F F cos sin cos δ θ δ Rewien ino he om o sae-space ieds δ m m m 3 B augmening he saes o he heading o vehice ψ and he awing on go b go, 3 coud be eomuaed as [ ] go g go go b Y m b m m b ψ δ ψ ψ he ongiudina and aea veociies ae known, he sidesip ange o vehice can be deined as δ ψ aiude

5 an 5 Since he GPS signa is eceived, he oienaion, ongiudina and aea veociies can be obained. onside he vehice is maneuveed on a amp, he acceeaion measuemens ae eeced upon gavi componens due o he aiude o vehice is changed. he diagam o a pich cene vehice mode wih oad gade is shown in igue. he kinemaic eaionship beween acceeaion measuemen and veoci componens a senso ocaion o vehice is epesened as a, me ψ a, g sinθ noise a me, ψ a, noise whee a,me and a,me ae he ongiudina and aea measuemen acceeae o he vehice, especive. v,gps and v,gps ae he ongiudina and aea veoci o GPS, especive. θ is oad gade ange, a, and a, ae he ongiudina and aea measuemen o senso, especive. 6 GPS cceeomee v,gps a,me g θ Figue he pich cene vehice mode wih oad gade 3. GPS/senso usion ssem inegaion using Kaman ie he conveniona Kaman ie is composed o measuemen updae and ime updae. Due o he ow measuemen updae ae o GPS, he sae esimaing eo and senso woud be compensaed b senso usion inomaion. he measuemen updae is genea omuaed as oows ~ ˆ K ˆ ~ K Pˆ Pˆ R P R 7 ~ P K Pˆ 5

6 6 whee ˆ and ~ epesen he pio and updae esimae o he ssem sae a ime, especive. Pˆ and P ~ ae he pio and updae eo covaiance mai a ime, especive. K is he Kaman gain and is new measuemen. is he obsevaion mai and R epesens he measuemen noise covaiance. B inegaing he senso usion ssem since he GPS measuemens ae os, he ime updae can be shown as oows Q P P u B u B d d d d ~ ˆ! ~! ~ ˆ 8 whee u is he inpu o he ssem and Q is he pocess noise covaiance. B using 8, 3 can be ewien ino he om o discee ime equaion, such as!! u u B u B d d 9 ssume ha he veoci measued b GPS modue is empoed o caibae he measuemen veoci o senso usion ssem, he eaionship beween GPS measuemen veoci and and can be wien as GPS GPS v v,, cosθ whee v,gps and v,gps epesen he ongiudina and aea veoci measuemen om GPS. When GPS signa is avaiabe, he posiion o vehice can be measued b GPS and he sae space mode can be wien accoding o as beow [ ] av GPS GPS Y noise v v 4 4., cos θ whee he measuemen oupu Y av is he sae o he mode, which incudes he posiion, ongiudina and aea veoci o vehice. he GPS signa is os, he vehice posiioning pobem is invoved in goscope and acceeomee measuemens. he esimaion o vehice oienaion is accoding o he measuemen o goscope. B using kinemaic Kaman ie, he sidesip ange, aw ae, heading diecion o he vehice is obained based on 4. Fo he measuemen o vehice

7 acceeaion, an acceeomee is empoed and hen an acceeaion Kaman ie is used o acke he veociies and senso b combining 6 and, such as a a Y,, acc ψ 4 4 [ a a ] ψ, a a,,, a a, me, me g sinθ noise he measuemen oupu Y acc is he sae o he ongiudina and aea veociies and measuemen acceeaion. B summaiing he ocaiaion mehod in his pape, he GPS signa is uiiing o sove he posiion pobem. he gade ange is deeced b goscope and hen he posiion o he vehice is esimaed b. he GPS signa is os, he kinemaic Kaman ie mehod is empoed o esimae he aiude o vehice and hen b inegaing he ongiudina and aea veociies o cacuae he posiion o vehice. 4. Epeimena Resus Figue 3 shows ou epeimena ca, named Misubishi Savin, and ou epeimens have been caied ou a he Pakuashan unne. When ou epeimena ca is maneuveed ou o his unne, he vehice ocaiaion pobem is dea wih GPS signas. Howeve, since ou epeimena ca is aveed in he unne o he GPS signa is oo weak, he vehice ocaiaion pobem is acke b senso usion ssem. he senso usion ssem in his pape consiss o goscope and acceeomee and he bock diagam is iusaed in igue 4. he navigaion ssem is opeaed b GPS daa acquisiion and NS coecion o enhance he navigaion peomance based on he inegaed concep. o accompish he epeimen, he odomee and geabo speed senso is used o compae he GPS veoci o caibae he accuac o ineia measuemen sensos. he odomee senso has high easibii o capue he veoci o vehice when he speed is geae han kph. Wheeas, he speed is ess hen kph, he senso caibaion is acked b geabo speed senso. Hence, he veoci measuemen eo is ess han 5 kph. Simia o he manne o veoci caibaion, he goscope inegaed angua ae ino heading compaing wih GPS couse. Pakuashan unne is ocaed in hanghua, aiwan. his unne connecs wo main highwas in aiwan. he oa engh o his unne is 4.98 kiomees. 7

8 Figue 3 Epeimena ca Goscope cceeomee iude popagaion Roaion om bod ais o NED ais Eue ange Kaman ie Figue 4 he bock diagam o senso usion ssem Figue 5 he en o Pakuashan unne e and he epeimen in he unne igh Figue 5 shows he Pakuashan unne and he view in his unne. he epeimena esus ae shown in igue 6. n igue 6, he dash ine is he ocaiaion esu via kinemaic Kaman ie KKF mehod and he doed ine epesens he esus b inegao on. hough boh o he esimaion eos o hese wo mehods ae inceased evenua, he peomance o kinemaic Kaman ie mehod is moe supeio o ha o inegao on. he ongiudina posiion eo o kinemaic Kaman ie mehod is abou.5 imes ess han he mehod o inegao and he epeimena esus ae iusaed in igue 7. Figue 8 shows ha he aea posiion eo o kinemaic Kaman ie mehod is 3 imes ess han inegao mehod. he epeimena esus demonsae ha ou senso usion ssem can ocaie he vehice via kinemaic Kaman ie mehod since he GPS signa is os. 8

9 Googe_Map KKF negao Laiudedeg Longiudedeg Figue 6 he epeimena esus KKF. negao. Longiudina_Eom Longiudedeg Figue 7 - he epeimena esus o ongiudina posiion eo 9

10 KKF. Laea_Eodeg.7 negao Longiudedeg Figue 8 - he epeimena esus o aea posiion eo 5. oncusions n his pape, he epeimena esus o vehice ocaiaion in a unne ae pesened. e caibaing he senso usion ssem, he ocaiaion pobem can be soved b inegaing ineia measuemen sensos when he vehice is maneuveed in a unne. he acceeomee and goscope can be empoed o esimae he ongiudina and aea aiude o he vehice, especive. Due o he oad gade in he unne, he esimaing eos o hose ineia measuemen sensos wi be inceased. heeoe, he kinemaic Kaman ie mehod which is consideed he gavi componens is empoed o esimae he posiion o vehice on amp. he epeimena esus show ha he posiion esimaion b kinemaic Kaman ie is moe accuae han he measuemen esus o ineia measuemen sensos on. cknowedgemen his wok is suppoed in eseach pojecs -E b Depamen o ndusia echnoog, Minis o Economic ais, aiwan, R.O..

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