Title :
GPS based land vehicle positioning using Gaussian sum filters
Author :
Kibangou, A.Y. ; Monin, A.
Author_Institution :
CNRS, Univ. of Toulouse, Toulouse
fDate :
March 31 2008-April 4 2008
Abstract :
In this paper, we consider land vehicle positioning in an urban environment. A nonlinear and non-Gaussian model is derived as the process model whereas GPS pseudo-range and odometer measurements are used as observations. A parametric model is proposed for representing the variations of the observation noise covariance matrix. The performances of the derived Gaussian sum filter are evaluated by using experimental data.
Keywords :
Gaussian noise; Global Positioning System; distance measurement; filtering theory; vehicles; GPS based land vehicle positioning; GPS odometer measurements; GPS pseudorange measurements; Gaussian sum filters; nonGaussian model; nonlinear model; observation noise covariance matrix; urban environment; Filtering; Filters; Global Positioning System; Land vehicles; Navigation; Noise measurement; Parametric statistics; Position measurement; Satellites; Working environment noise; Global Positioning System; Jump processes; Land vehicles; Non-linear filters;
Conference_Titel :
Acoustics, Speech and Signal Processing, 2008. ICASSP 2008. IEEE International Conference on
Conference_Location :
Las Vegas, NV
Print_ISBN :
978-1-4244-1483-3
Electronic_ISBN :
1520-6149
DOI :
10.1109/ICASSP.2008.4518444
