An adaptive information fusion method to vehicle integrated navigation

Author

Qiuping, Wu ; Zhongyu, GAO ; Dejun, Wan

Author_Institution

Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China

fYear

2002

fDate

2002

Firstpage

248

Lastpage

253

Abstract

GPS can not be used continuously for city vehicle navigation due to the loss of satellite signals by obstructions from building, trees etc. Therefore, a kind of integrated GPS/dead reckoning (DR) system of continuous positioning is developed. The operational principle of this integrated vehicle navigation system is given, then calibration of each and switching between the GPS and DR in the system are discussed, and the application of federated Kalman filtering technology to the multisensor system is studied. Finally, we advance an adaptive information fusion method to achieve optimal calibration between the GPS and DR systems. Experimental results demonstrate the effectiveness of this integrated navigation system.

Keywords

Global Positioning System; Kalman filters; adaptive signal processing; calibration; driver information systems; position measurement; road vehicles; sensor fusion; GPS; GPS/DR switching; adaptive information fusion method; calibration; city vehicle navigation; continuous positioning system; federated Kalman filtering technology; integrated GPS/dead reckoning system; multisensor system; optimal calibration; satellite signal loss; vehicle integrated navigation; Calibration; Global Positioning System; Inertial navigation; Instruments; Radio navigation; Receivers; Satellite navigation systems; Switches; Vehicles; Wide area networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Position Location and Navigation Symposium, 2002 IEEE

Print_ISBN

0-7803-7251-4

Type

conf

DOI

10.1109/PLANS.2002.998915

Filename

998915