Data fusion of four ABS sensors and GPS for an enhanced localization of car-like vehicles

A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. An odometric technique using the four ABS sensors is presented. Due to the redundancy of the measurements, the precision is better than the one of differential odometry using the rear wheels only. The sampling is performed when necessary and when a GPS measurement is performed. This implies a noticeable reduction of the GPS latency, simplifying thus the data fusion process and improving the quality of its results.