Title page for ETD etd-05192015-184107


Type of Document Master's Thesis
Author Jones, Philip Andrew
URN etd-05192015-184107
Title Techniques in Kalman Filtering for Autonomous Vehicle Navigation
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Dr. Alfred Wicks Committee Chair
Dr. John Bird Committee Member
Dr. Kathleen Meehan Committee Member
Keywords
  • Kalman Filter
  • Extended Kalman Filter
  • Navigation
  • IMU
  • GPS
Date of Defense 2015-05-05
Availability restricted
Abstract
This thesis examines the design and implementation of the navigation solution for an autonomous ground vehicle suited with global position system (GPS) receivers, an inertial measurement unit (IMU), and wheel speed sensors (WSS) using the framework of Kalman filtering (KF). To demonstrate the flexibility of the KF several methods are explored and implemented such as constraints, multi-rate data, and cascading filters to augment the measurement matrix of a main filter. GPS and IMU navigation are discussed, along with common errors and disadvantages of each type of navigation system. It is shown that the coupling of sensors, constraints, and self-alignment techniques provide an accurate solution to the navigation problem for an autonomous vehicle. Filter divergence is discussed during times when the states are unobservable. Post processed data is analyzed to demonstrate performance under several test cases, such as GPS outage, and the effect that the initial calibration and alignment has on the accuracy of the solution.

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