Accurate Estimation of Posture and Velocity with Application to Coordinated Motion Control of Twin Hoisting-Girder Transporters

This paper proposed a novel method providing high-update rate vehicle posture and velocity estimation using real-time kinematics global position system (RTK-GPS) and simple in-vehicle speed sensors. The RTK-GPS noise processing techniques are used to discard the noises that do not satisfy the Kalman filter model. Combining the RTK-GPS and speed sensors using extended Kalman filter (EKF) provided a high-update rate estimation that can satisfy the need of the coordinated control of the vehicles fleet. The experimental and practical application results illustrate that the ability of the method meet the accuracy and robustness requirements of the control system.