A Kalman filter for integrating dead reckoning, map matching and GPS positioning

Author

Krakiwsky, Edward J. ; Harris, Clyde B. ; Wong, Richard V C

Author_Institution

Dept. of Surveying Eng., Calgary Univ., Alta., Canada

fYear

1988

fDate

29 Nov-2 Dec 1988

Firstpage

39

Lastpage

46

Abstract

A Kalman filter has been developed to integrate the three positioning systems (differential odometer dead reckoning, map matching, and Global Positioning System or GPS) used in the Automatic Vehicle Location System (AVL 2000) being designed and developed in the Department of Surveying Engineering at the University of Calgary. The system is being targeted for on road applications and incorporates a digital map. The filter has been designed to take into account uncertainties via covariance matrices. In wide-open spaces GPS positioning will dominate, while in zones where the GPS signal is obstructed, dead reckoning will be used as interpolation between GPS position fixes. Simulation studies and covariance analyses have been performed on a test route located in a sector of the city of Calgary

Keywords

Kalman filters; interpolation; matrix algebra; radionavigation; AVL 2000; Automatic Vehicle Location System; Calgary; GPS positioning; Global Positioning System; Kalman filter; covariance analyses; covariance matrices; dead reckoning; differential odometer dead reckoning; digital map; interpolation; map matching; positioning systems; uncertainties; Automotive engineering; Covariance matrix; Dead reckoning; Design engineering; Filters; Global Positioning System; Interpolation; Roads; Uncertainty; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Position Location and Navigation Symposium, 1988. Record. Navigation into the 21st Century. IEEE PLANS '88., IEEE

Conference_Location

Orlando, FL

Type

conf

DOI

10.1109/PLANS.1988.195464

Filename

195464