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.