@inproceedings{7853a244224845a699c12de827b0e8e1,
title = "Differential wheel speed sensor integration with GPS/INS for land vehicle navigation",
abstract = "This paper develops an approach for the integration of GPS, inertial measurements from accelerometers and gyros, and differential wheel speed sensors for land vehicle navigation. Incorporating differential wheel speed sensor information into land vehicle navigation pro- vides a solution for eliminating large errors caused by vehicle roll and pitch while also reducing errors from sideslip. Extended Kalman and Unscented Filtering algorithms are designed with a six degree of freedom model. In order to incorporate differential wheel speed information properly, the effective wheel radius must also be estimated as part of the overall estimation approach. Simulation results show the performance of the filters for cases of GPS/INS with and without the differential wheel speed sensor.",
author = "Hazlett, \{Andrew C.\} and Crassidis, \{John L.\} and Fuglewicz, \{Daniel P.\} and Patrick Miller",
year = "2011",
doi = "10.2514/6.2011-6577",
language = "English",
isbn = "9781600869525",
series = "AIAA Guidance, Navigation, and Control Conference 2011",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
booktitle = "AIAA Guidance, Navigation, and Control Conference 2011",
note = "AIAA Guidance, Navigation and Control Conference 2011 ; Conference date: 08-08-2011 Through 11-08-2011",
}