Automated vehicle drift correction

Abstract From the Canadian patent

An automated vehicle includes a navigation system which carries out a dead reckoning calculation of the vehicle's position based on inputs from sensors on the motion of a steering wheel in the preceding time interval .DELTA.t .Parameters of the system including the heading angle, the spatial position x,y the angular drift in the steering angle ?. a crabbing angle .beta. and a variation 1dm in steering wheel radius are updated by the addition of the product of a Kalman gain calculated by computer and an error signal produced each time an observation is made by laser bearing finding equipment on the vehicle.