Accurate differential global positioning system via fuzzy logic Kalman filter sensor fusion technique

Author

Kobayashi, Kazuyuki ; Cheok, Ka C. ; Watanabe, Kajiro ; Munekata, Fumio

Author_Institution

Dept. of Electr. & Syst. Eng., Oakland Univ., Rochester, MI, USA

Volume

45

Issue

3

fYear

1998

fDate

6/1/1998 12:00:00 AM

Firstpage

510

Lastpage

518

Abstract

The ability to determine an accurate global position of a vehicle has many useful commercial and military applications. The differential global positioning system (DGPS) is one of the practical navigation tools used for this purpose. However, the DGPS has limitations arising from slow updates, signal interference, and limited accuracy. This paper describes how vehicle rate sensors ran be used to help a DGPS overcome these limitations. The theoretical background for the sensor fusion is based on the principle of Kalman filtering and a fuzzy logic scheme. Validity of the method was verified by using experimental data from an actual automobile navigating around an urban area. The results demonstrated that the path of the automobile can be continuously traced with high accuracy and repeatability, in spite of the limitations of the DGPS

Keywords

Global Positioning System; Kalman filters; fuzzy logic; sensor fusion; DGPS; Kalman filter; Kalman filtering; automobile navigation; automobile path tracing; differential global positioning system; fuzzy logic; limited accuracy; navigation; sensor fusion; signal interference; slow updates; urban area; vehicle rate sensors; Automobiles; Fuzzy logic; Global Positioning System; Interference; Kalman filters; Navigation; Radio access networks; Sensor fusion; Sensor phenomena and characterization; Vehicles;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.679010

Filename

679010