Lateral deviation calculation algorithm for a Magnetic Guidance System.

This work presents the lateral vehicle position detection algorithm developed for MGS project (Magnetic Guidance System), which controls the lateral position of a vehicle based on its deviation in relation to a reference magnetic track.

Initially, the general requirements which guide the algorithm operation are presented, including constraints imposed by real world. Next, the algorithm's context is described, including the architecture of the system where de algorithm operates, the information supplied to the algorithm and the information got in return.

Finally, the algorithm itself is presented in terms of the operations executed over the input data to determine the desired results.