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The design of ultra-high integrity navigation systems for large autonomous vehicles

  • Chapter 5 Heavy Robotic Systems
  • Conference paper
  • First Online:
Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

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Abstract

This paper describes the design of a high integrity navigation system for use in large autonomous mobile vehicles. A frequency domain model of sensor contributions to navigation system performance is used to study the performance of a conventional navigation loop. On the basis of this, a new navigation system structure is introduced which is capable of detecting faults in any combination of navigation sensors. An example implementation of these principles is described which employs a twin GPS/IMU MMW radar/encoder navigation loop.

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Bibliography

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Authors and Affiliations

  1. Centre for Mining Technology and Equipment Department of Mechanical and Mechatronic Engineering, University of Sydney, 2006, NSW, Australia

    Hugh Durrant-Whyte, Eduardo Nebot, Steve Scheding, Sala Sukkarieh & Steve Clark

Authors
  1. Hugh Durrant-Whyte
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  2. Eduardo Nebot
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  3. Steve Scheding
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  4. Sala Sukkarieh
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  5. Steve Clark
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Durrant-Whyte, H., Nebot, E., Scheding, S., Sukkarieh, S., Clark, S. (1998). The design of ultra-high integrity navigation systems for large autonomous vehicles. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112967

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  • DOI: https://doi.org/10.1007/BFb0112967

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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