Multiple Cooperative Vehicle Systems with Hybrid GPS/INS Positioning Systems

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We proposed a novel structure about multiple cooperative vehicle systems (MCVS), which is mainly divided into three parts. The first part is search vehicle, the second part is navigation vehicle, and the last part is classification vehicle. In this research, we focus on navigation vehicle. The other parts are investigated by another postgraduate. We use Fuzzy Logic Control to combine GPS and Gyroscope-Free INS for the navigation vehicle. When we receive a strong GPS signal, the system will choose GPS, otherwise the system will choose Gyroscope-Free INS. Using the Gyroscope-Free INS, we can derive the analytical solution of the vehicle’s location and attitude. Because of our navigation vehicle work on a flat surface, our accelerometers of Gyroscope-Free INS have been reduced to three from six. Finally, we use monitoring system to observe the location situation of navigation vehicle.