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Communication Dans Un Congrès Année : 2007

Fusion of GPS, INS and odometric data for automotive navigation

Résumé

Nowadays, the demand for accurate and reliable positioning systems is constantly increasing in several applications such as safety of life or liability critical. The global positioning system (GPS) is a world wile known and accepted navigation system used in almost any application requiring tracking. However, the quality of the localization task for ground vehicles is subjected to degrade in outdoor conditions. A severe degradation is for instance observed in urban areas, when the vehicle is subjected to multipath or masking effects interfering with the satellite lines of sight. Using usual pseudo ranges and additional measurement sources is an interesting way of improving the localization performance. This paper studies different fusion approaches based on differential odometry provided by wheel speed sensors (WSS) and inertial sensors such as accelerometers and gyroscopes. Different tracking strategies based on extended and unscented Kalman filters will be investigated and compared for these fusion approaches.
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Dates et versions

hal-04089971 , version 1 (10-05-2023)

Identifiants

  • HAL Id : hal-04089971 , version 1
  • OATAO : 3185

Citer

Mariana Spangenberg, Vincent Calmettes, Jean-Yves Tourneret. Fusion of GPS, INS and odometric data for automotive navigation. European Signal and Image Processing Conference (EUSIPCO 2007), Sep 2007, Poznan, Poland. pp.886-890. ⟨hal-04089971⟩
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