Accurate navigation via sensor fusion of differential GPS and rate-gyro

An accurate positioning of vehicle leads to accurate navigation by which traffic transportation can become efficient. Differential Global Positioning System (DGPS) is one of the most practical navigation methods. This paper describes how to combine and/or fuse vehicle sensors to improve the position accuracy from the DGPS. The theoretical background for sensor fusion is the use of the Kalman filter. As an example of the proposed sensor fusion theory, we combine the optical gyro, wheel speed measurements that may include high frequency noises and the DGPS signal which due to circumstances is frequently suffers interference. Validity of the method was examined by a real automobile in real circumstances