Title :
Hybrid procedure strategy for vehicle localization system based on additional on-board devices
Author :
Domenico, Domenico Di ; Fiengo, Giovanni ; Gortan, Luigi
Author_Institution :
Dipt. di Ingegneria, Universita degli Studi del Sannio, Benevento
Abstract :
This paper presents an estimation strategy that provides a good localization and a perfect measurement of the distance run by a public transport vehicle. To this aim, the vehicle is equipped with a Global Positioning System (GPS), an odometer, to measure the vehicle velocity, and a gyrometer, to measure the yaw velocity. A model based hybrid procedure has been proposed, based on the GPS signal reliability, guaranteeing robustness for temporary loss of satellite signal. In particular the algorithm switches among a Kalman filter strategy, if the GPS is available, and an open loop model based estimation, if it is not available. The algorithm has been tested both in simulation and with experimental data furnished by Centro Ricerche FIAT
Keywords :
Global Positioning System; Kalman filters; distance measurement; estimation theory; open loop systems; transportation; velocity measurement; GPS; Kalman filter; distance measurement; global positioning system; gyrometer; odometer; open loop model based estimation; public transport vehicle; vehicle localization system; vehicle velocity measurement; yaw velocity measurement; Automotive engineering; Global Positioning System; Military satellites; Position measurement; Robustness; Satellite broadcasting; Switches; Testing; Vehicles; Velocity measurement;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1656610
