Method and system for automatic control of vehicles based on carrier phase differential GPS

• US 6,052,647 A
• Filed: 06/20/1997
• Issued: 04/18/2000
• Est. Priority Date: 06/20/1997
• Status: Expired due to Term

• Current Assignee: Board of Trustees of the Leland Stanford Junior University (Stanford Management Co.)
• Original Assignee: Stanford University
• Inventors: Bell, Thomas, O'Connor, Michael L., Elkaim, Gabriel H., Parkinson, Bradford W.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/879,628
• Time in Patent Office: 1,033 Days
• Field of Search: 701/215, 701/213, 701/205, 701/210, 701/24, 701/26, 701/41, 701/50, 342/357, 342/457, 180/168, 180/408
• US Class Current: 701/215
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/55 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Described is an automatic control system for land (and possible marine) vehicles based on carrier phase differential GPS (CPGPS). The system relies on CPGPS to determine vehicle position and attitude very precisely (position to within 1 cm and attitude to within 0.1°). A system incorporates a technique to calculate and compensate for antenna motion due to vehicle roll and pitch. One aspect of the system utilizes an intelligent vehicle controller that recognizes and adapts to changing conditions, such as vehicle speed, implements towed by the vehicle, soil conditions, and disturbance level. The system provides the capability to control the vehicle on various paths, including straight lines and arbitrary curves. Also described is a technique for initialization and vehicle control using only a single pseudolite.

Claims

1. A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;

GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;

vehicle steering control means for selectively changing the state of the vehicle;

a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;

means for providing a wireless communications channel between the reference station and the vehicle;

means to calculate values defining the attitude of the vehicle based on phase differences received at the GPS antennas; and

processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state.

2. The system according to claim 1, wherein the processor means sequentially determines vehicle roll, pitch and yaw angles on the basis of phase differences in the GPS signals received respectively at the vehicle GPS antennas and adjusts the control signal to account for errors based on variations in vehicle roll, pitch and yaw to adjust measured orientation in a surface plane.

3. The system according to claim 2, wherein the vehicle GPS antennas comprise four antennas disposed at known locations relative to each other.

4. The system according to claim 1, further including sensor means for measuring actual steering angle and providing as input data wheel angle signal to the controller means.

5. The system according to claim 1, wherein the controller means calculates the control signal on the basis of a dynamic system model utilizing fixed system parameters obtained experimentally.

6. A method for controlling a ground vehicle using Carrier-Phase Differential GPS comprising the steps of:

producing vehicle attitude measurements and vehicle carrier- and code-phase measurements with a GPS receiver on the basis of GPS signals received with a plurality of vehicle GPS antennas fixed to the vehicle at predetermined positions;

producing reference carrier phase measurement and reference code differential correction using a ground reference station, the ground reference station including at least one reference GPS antenna and a GPS receiver coupled thereto;

providing a wireless communication channel between the reference station and the vehicle;

calculating values defining attitude of the vehicle using the phase differences of signals received at the GPS antennas, receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections;

calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state; and

selecting changing the state of the vehicle based on the control signal.

7. The method according to claim 6, wherein vehicle roll, pitch and yaw angles are calculated sequentially on the basis of phase differences in the GPS signals received respectively at the vehicle GPS antenna and the control signal is adjusted to account for errors based on variations in vehicle roll, pitch and yaw to adjust vehicle orientation in a surface plane.

8. The method according to claim 7, wherein the vehicle GPS antennas comprise four antennas.

9. The method according to claim 6, further including the step of measuring actual steering angle and providing as input data a wheel angle signal.

10. The method according to claim 6, wherein the control signal is calculated on the basis of a dynamic system model utilizing fixed system parameters obtained experimentally.

11. A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;

GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;

vehicle steering control means for selectively changing the state of the vehicle;

a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;

means for providing a wireless communications channel between the reference station and the vehicle; and

processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state wherein the controller means dynamically recalculates vehicle state at successive measurement intervals.

12. The system according to claim 11, wherein the system parameters vary on the basis of varying conditions including:

vehicle velocity, relative displacement between the vehicle GPS antennas and the wheel base of the vehicle, or soil conditions that contribute to vehicle wheel slippage.

13. A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;

GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;

vehicle steering control means for selectively changing the state of the vehicle;

a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;

means for providing a wireless communications channel between the reference station and the vehicle; and

processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state, and means for initializing the system to obtain accurate vehicle position and attitude on the basis of the GPS signals.

14. The system according to claim 13, wherein the initializing means includes at least one GPS pseudolite, wherein the vehicle is initially moved around the GPS pseudolite to resolve ambiguities between one of the vehicle GPS antennas and the reference GPS antenna.

15. The system according to claim 14, wherein the initializing means includes only a single GPS pseudolite.

16. A system for controlling a ground vehicle using Carrier-Phase Differential GPS, comprising:

a plurality of vehicle GPS antennas disposed fixedly to the vehicle to receive GPS signal;

GPS receiver means coupled to the plurality of vehicle GPS antennas for producing vehicle attitude measurements and vehicle carrier- and code-phase measurements;

vehicle steering control means for selectively changing the state of the vehicle including a first controller for relatively coarse steering adjustments and a second controller for relatively fine steering adjustment;

a ground reference station including at least one reference GPS antenna and GPS receiver means coupled thereto for producing reference phase carrier phase measurement and reference code differential corrections;

means for providing a wireless communications channel between the reference station and the vehicle; and

processing means including means for receiving as input data the vehicle attitude measurements, the vehicle carrier- and code-phase measurements, the reference carrier phase measurements and reference code differential corrections, and controller means for calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state.

17. The system according to claim 16, wherein the first controller comprises a bang--bang controller.

18. The system according to claim 16, wherein the second controller comprises a Linear Quadratic Controller.

19. A method for controlling a ground vehicle using Carrier-Phase Differential GPS comprising the steps of:

producing vehicle attitude measurements and vehicle carrier- and code-phase measurements with a GPS receiver on the basis of GPS signals received with a plurality of vehicle GPS antennas fixed to the vehicle at predetermined positions;

producing reference carrier phase measurement and reference code differential corrections using a ground reference station, the ground station including at least one reference GPS antenna and a GPS receiver coupled thereto;

providing a wireless communications channel between the reference station and the vehicle;

receiving as input data the vehicle attitude measurements, the vehicle carrier- and code-phase measurements, the reference carrier phase measurements and reference code differential corrections;

calculating on the basis of the input data a control signal based on the deviation of the actual vehicle state from a desired vehicle state;

selectively changing the state of the vehicle based on the control signal; and

adaptively identifying system parameters on the basis of the input data, wherein a system controller is dynamically recalculated at successive measurement intervals.

20. The method according to claim 19, wherein the system parameters vary on the basis of varying conditions including:

vehicle velocity, relative displacement between the vehicle GPS antennas and the wheel base of the vehicle, or soil conditions that contribute to vehicle wheel slippage.

21. The method according to claim 19, wherein the control signal is calculated on the basis of a dynamic system model utilizing fixed system parameters obtained experimentally.

22. The method according to claim 19, further including the step of initializing to obtain accurate vehicle position and attitude on the basis of the GPS signals.

23. The method according to claim 22, wherein the step of initializing is accomplished by moving the vehicle around at least one GPS pseudolite to resolve integer ambiguities between one of the vehicle antennas and the reference GPS antenna.

24. The method according to claim 23, wherein at least one GPS pseudolite consists of only a single GPS pseudolite.

25. The method according to claim 19, wherein the step of calculating includes using a first controller model for relatively coarse steering adjustments or a second controller model for relatively fine steering adjustment.

26. The method according to claim 25, wherein the first controller model comprises a bang--bang controller.

27. The method according to claim 26, wherein the second controller model comprises a Linear Quadratic Controller.