GPS-aided INS based control state calculation for AHS

This paper describes the results of an effort to implement and analyze the performance a vehicle control system using control state information obtained from a carrier phase Differential Global Positioning System (DGPS) aided Inertial Navigation System (INS). The initial premise of this project was that carrier phase DGPS/INS technology has the potential to serve as a centimeter-level position reference system as necessary for vehicle position control applications, including automated highway systems (AHS). The focus of this article is the control state calculation methodology. Experimental data from control experiments on-board a PATH¹ vehicle are included. This testing was completed with a magnetometer sensing system onboard and running to provide a ground truth reference for comparison with the DGPS/INS. DGPS/INS performance was demonstrated with lateral position accuracy at the centimeter level and the full navigation state updated at 150 Hz. Communication with the control system occurred at 30 Hz