Article Figures & Data
Figures
- FIGURE 1
Schematic depiction of the navigation filter based on Gehrt et al. (2019): Variables with a hat symbol are estimated values, whereas the tilde indicates measurements.
- FIGURE 2
a) is a schematic depiction of the Correvit sensor functionality according to Haus and Lauinger (2007) while b) is a schematic illustration of the sensor mounting in top view.
- FIGURE 3
Final navigation filter with sequential measurement models
- FIGURE 4
One of the three research dump trucks from the ARTUS project with a rugged hardware attachment; all sensors are placed on the rear vehicle body. The illumination of the ground by the Correvit sensor is well recognizable.
- FIGURE 5
Birds-eye view of the driven trajectory: a) test drive on a parking lot and b) represents evaluation in a gravel pit. The data belongs to the real-time kinematic (RTK) reference solution. The timestamps correspond to those of all other evaluation figures.
- FIGURE 6
Raw Correvit sensor output of the lateral and longitudinal speed component
- FIGURE 7
Comparison of the three navigation filters: basic UKF (without Correvit), Correvit UKF, and Correvit + MAE UKF
- FIGURE 8
Estimated misalignment angle δ: The estimation starts after the vehicle begins moving at second 25.5. a) depicts the misalignment angle of the measurement setup while b) depicts a simulated misalignment angle of 5°. In both cases, the angle is estimated within 35 s.
- FIGURE 9
Comparison of the three navigation filters in offline postprocessing
- FIGURE 10
Comparison of the three navigation filters in offline postprocessing with the data from the test drive in the gravel pit
Tables
- TABLE 1
Position and Heading Errors of the Three Offline-Evaluated Filters for all Presented Experiments
2D-error (m) Heading error (°) Filter 
σ P99 σ P99 Normal environmental conditions Basic UKF 0.22 0.09 0.21 0.43 1.17 0.88 0.66 5.53 Correvit UKF 0.22 0.09 0.21 0.43 0.74 0.84 0.57 5.53 Correvit + MAE UKF 0.22 0.09 0.21 0.43 0.83 0.89 0.66 5.53 Simulated GNSS cutoff Basic UKF 37.86 56.88 0.79 192.88 1.8 1.04 1.66 5.53 Correvit UKF 0.26 0.08 0.25 0.46 0.89 1.07 0.52 5.53 Correvit + MAE UKF 0.23 0.11 0.22 0.44 0.96 1.11 0.57 5.53 Open-pit mine Basic UKF 85.37 145.35 0.37 555.67 0.92 0.89 0.69 3.64 Correvit UKF 0.24 0.16 0.18 0.6 0.77 0.72 0.56 3.76 Correvit + MAE UKF 0.24 0.14 0.17 0.52 0.86 0.88 0.55 4.11
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