Automated vehicle drift correction

Details Automated vehicle drift correction Automated vehicle drift correction

G - Physics

05

D

341/84

G05D 1/02 (2006.01) G01C 21/00 (2006.01) G01C 21/12 (2006.01)

Patent

CA 1269740

ABSTRACT OF THE DISCLOSURE An automated vehicle includes a navigation system which carries out a dead reckoning calculation of the vehicle's position based on inputs from sensors on the motion of a steering wheel in the preceding time interval, .DELTA.t .Parameters of the system including the heading angle, the spatial position x,y the angular drift in the steering angle ?. a crabbing angle .beta. and a variation 1dm in steering wheel radius are updated by the addition of the product of a Kalman gain calculated by computer and an error signal produced each time an observation is made by laser bearing finding equipment on the vehicle.

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