Date : 21-01-11 13:12
 3.IOR_S6_052_4.pdf (495.7K) |
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Autonomous Vehicle Navigation System using GPS/DR with Both In-Vehicle Information and Yaw Rate Gyro
Jun Gi Park, Kwiwoo Park, Dong Sun Lee, Chansik Park*
In this paper, integrated GPS/DR navigation system using GPS, in-vehicle odometer and a yaw rate gyro is implemented and evaluated with real autonomous vehicle called the Clothoid. The loosely coupled GPS/DR integrated navigation system is implemented with TMS320F28335 MCU, Ublox LEA-6 GPS receiver, DSP-3000 single axis gyro and in-vehicle odometer in Tucson ix2011. All sensors and processors are connected with CAN bus, the position and direction angle are provides with 100 Hz output rate. The experiments with real autonomous vehicle show that the designed GPS/DR navigation system provides seamless positions and direction angles even in GPS outage. These results show the implemented navigation system is possible to apply to the autonomous driving.
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