Navigable map-aided differential odometry to enhance GNSS in adverse conditions - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2009

Navigable map-aided differential odometry to enhance GNSS in adverse conditions

Résumé

This paper studies the benefits of integrating proprioceptive measurements and a-priory geographical knowledge in the GNSS computation to increase availability and accuracy for modern ITS applications. A tightly-coupled framework for merging GNSS pseudo-ranges and odometric measurements is first introduced. An efficient way to merge a 2D navigable road-map is then presented, including the road selection and the map measurement model. A cautious fusion strategy, which provides enhanced GNSS-like positioning is performed, using an Extended Kalman filter monitoring innovation signals. This method has been applied to real-field data recorded during spring 2007. Results show the benefits of the proposed framework for GPS-computation under adverse conditions, i.e. with bad satellites availability and configuration.
Fichier principal
Vignette du fichier
WorkshopLocalisation.pdf (650.41 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00445307 , version 1 (08-07-2010)

Identifiants

  • HAL Id : hal-00445307 , version 1

Citer

Clément Fouque, Philippe Bonnifait. Navigable map-aided differential odometry to enhance GNSS in adverse conditions. Accurate Localization for Land Transportation, 2009, Paris, France. pp.5. ⟨hal-00445307⟩
110 Consultations
133 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More