1997 Volume 59 Issue 4 Pages 79-86
When a 1-axis gyroscope is used to determine the azimuth angle (yaw angle) of an autonomous vehicle, an error will be introduced from a tilt of the body. For the purpose of finding the characteristics of the error, the relationship between the detected rotation angle about the vertical axis of the body and the yaw angle is theoretically investigated. And experiments with driving a tractor on horizontal forage farm were carried out to measure the tilt angles owing to the field roughness and the centrifugal force during turns. From the obtained data, the influence of tilt upon the yaw angle measurement was investigated. The results showed that the difference between the yaw angle and the rotation angle about the vertical axis of the body was mainly caused during turns, and the higher turning speed, the angular difference would be larger. It was also found that the detected rotation angle about the vertical axis would be smaller than the change in yaw angle during a turn.
