Communication Dans Un Congrès Année : 2004

Non-linear filtering for land vehicle navigation with GPS outage

Résumé

The aim of this paper is to detail a fusion method for land vehicle navigation using (partial) GPS measurement and odometric information. We focus here on a global estimation method which uses the available GPS signal with partial GPS outage. The method deals with odometer and pseudo-range measures that contain the location parameters of the vehicle. This estimation problem is solved by a particle filter, which has proved its benefits compared to an extended Kalman filter, since it deals with non-linear models and statistics.

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Dates et versions

hal-02955213 , version 1 (01-10-2020)

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Christophe Boucher, Abdelkabir Lahrech, Jean-Charles Noyer. Non-linear filtering for land vehicle navigation with GPS outage. International Conference on Systems, Man & Cybernetics - SMC 2004, Oct 2004, The Hague, Netherlands. pp.1321-1325, ⟨10.1109/ICSMC.2004.1399808⟩. ⟨hal-02955213⟩
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