IMPROVED RELATIVE POSITIONING FOR PATH FOLLOWING IN AUTONOMOUS CONVOYS

This work presents the development of an algorithm to incorporate measurements from multiple antennas to improve the relative position solution between convoying vehicles provided by Global Positioning System (GPS) measurements. The technique presented, incorporates measurements from multiple antennas with a known fixed-baseline between a base antenna and auxiliary antenna on a base vehicle, and a rover antenna on a rover vehicle. The additional information provided by the fixed-baseline distance is used to provide an additional measurement with low uncertainty for improved integer ambiguity resolution between the base and auxiliary receiver, which in turn, provides additional measurements for determining the integer ambiguity difference between the base and rover receivers for the computation of a high-precision relative position vector (HPRPV).