Doppler radar and MEMS gyro augmented DGPS for large vehicle navigation

This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. A ground speed Doppler radar and one MEMS gyroscope are used to augment differential GPS (DGPS) and provide accurate navigation during GPS outages. The goal is to maintain a position accuracy of 2 meters or better for 15 seconds when an accurate GPS solution is not available. The Doppler radar and gyro are calibrated when DGPS is available, and a loosely coupled Kalman filter gives an optimally tuned navigation solution. Field tests were carried out in a harbor environment using straddle carriers.