Combined Estimation of the Mutual Position of the Master and Slave Vehicle by Ultrasonic Receivers and Gnss-Module Data

The problem of determining the position master vehicle when implementing a scenario robotic as part caravanning driving system is studied. mentioned expected slave to replicate motion trajectory represented by human operated vehicle, another or operator. To provide reliable operation within autonomous convoy and precise assessment regardless environment required. Implementation ultrasonic receivers emitters information measurement complex determine master-slave mutual allows function at any time day inside outside premises in presence dynamic obstacles, smoke, precipitation, etc. Estimation accomplished means measuring arrival wave emitted active beacon prior spatial array receivers. Similar indirect distance between bacon each receiver allowed receive equations be solved implementation Kalman filter with Raugh - Tung Striebel smoother. Major disadvantage approach 20-meter range, which enough for maneuvering. increase range operation, combined estimation master's based on data module global navigation satellite proposed.