Title :
A location method for autonomous vehicle based on integrated GPS/INS
Author :
Yang, Qingmei ; Sun, Jianmin
Author_Institution :
Beijing Union Univ., Beijing
Abstract :
The location system is a key technology of autonomous vehicle. Autonomous vehicle can sense all kinds of information and make decisions during moving out of door. The integrated GPS/INS location system of autonomous vehicle based on data fusion is studied in the paper. Based on the analysis of location methods, such as the Global Positioning System (GPS), inertial navigation system (INS), dead reckoning (DR) system and the vector electronic map, GPS and IMS are integrated in the location system of the autonomous vehicle. The GPS/INS integrated location system is designed. Kalman filter is used in the GPS subsystem and the IMS subsystem. Data of fusion of INS/GPS is simulated. The results of simulation show that the fusion location can improve the precision and reliability of the location system.
Keywords :
Global Positioning System; Kalman filters; inertial navigation; remotely operated vehicles; GPS/INS location system; Global Positioning System; Kalman filter; autonomous vehicle; data fusion; dead reckoning system; inertial navigation system; integrated GPS/INS; vector electronic map; Bayesian methods; Dead reckoning; Global Positioning System; Inertial navigation; Mobile robots; Noise measurement; Probability; Remotely operated vehicles; Sensor systems; Sun;
Conference_Titel :
Vehicular Electronics and Safety, 2007. ICVES. IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-1265-5
Electronic_ISBN :
978-1-4244-1266-2
DOI :
10.1109/ICVES.2007.4456376
