A high integrity IMM-CKF method for multi-sensor based vehicle autonomous navigation

Author

Liu, Jiang ; Cai, Bai-gen ; Wang, Yun-peng ; Wang, Jian ; Shangguan, Wei

Author_Institution

Sch. of Transp. Sci. & Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2011

fDate

1-3 Nov. 2011

Firstpage

691

Lastpage

694

Abstract

Vehicle autonomous navigation is one of the big challenges for cooperative vehicle infrastructure systems. Besides concerning the position accuracy level, the system integrity is chosen as another key index to represent the performance of the vehicle navigation system. This paper presents a novel solution for multi-sensor based vehicle autonomous navigation, in which the interacting multiple model and cubature Kalman filter are employed to fuse the measurement from GNSS receiver and inertial sensors, and the integrity is improved with accuracy by refining the model probability calculation based on the horizontal trust level. Simulation and analysis demonstrate that the present solution reaches a balance to numerical accuracy and integrity, which provides more trust for application.

Keywords

Kalman filters; cooperative systems; satellite navigation; sensor fusion; vehicles; GNSS receiver; IMM-CKF method; Kalman filter; cooperative vehicle infrastructure systems; inertial sensors; multi-sensor; position accuracy level; system integrity; vehicle autonomous navigation; vehicle navigation system; Accuracy; Adaptation models; Computational modeling; Matched filters; Navigation; Vehicles; cubature Kalman filter; integrity; interacting multiple model; multi-sensor; vehicle autonomous navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Microwave, Antenna, Propagation, and EMC Technologies for Wireless Communications (MAPE), 2011 IEEE 4th International Symposium on

Conference_Location

Beijing

Print_ISBN

978-1-4244-8265-8

Type

conf

DOI

10.1109/MAPE.2011.6156198

Filename

6156198