Title :
A Vehicle State Estimation Method Based on GPS/INS Integrated Navigation System
Author :
Cai, Zixing ; Ren, Xiaoping ; Li, Zhao
Author_Institution :
Dept. of Inf. Sci. & Eng., Central South Univ., Changsha, China
Abstract :
A method used to estimate the state of vehicles when driving was proposed in this paper. This method was based on GPS/INS integrated navigation system. The kinematics model was set up for four-wheeled vehicle, and nonholonomic constraint was added to this model. Estimation equations of velocity errors of the vehicle were then given out, which used velocity and gesture angles information of the vehicle to estimate velocity errors of side and forward. Stability of the whole vehicle can be judged by velocity errors of the vehicle. Experiment showed that this state estimation method was of validity.
Keywords :
Global Positioning System; inertial navigation; kinematics; state estimation; vehicles; GPS-INS integrated navigation system; four wheeled vehicle state estimation method; gesture angles; nonholonomic constraint; velocity angles; velocity error estimation equations; Electronic mail; Global Positioning System; Mathematical model; State estimation; Vehicles;
Conference_Titel :
Pattern Recognition (CCPR), 2010 Chinese Conference on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-7209-3
Electronic_ISBN :
978-1-4244-7210-9
DOI :
10.1109/CCPR.2010.5659186
