Title :
A data fusion algorithm for DR/GPS/Map-Match integrated navigation system
Author :
Han, Yongqiang ; Liu, Zhide ; Chen, Jiabin ; Xie, Ling
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
In this paper, a data fusion algorithm for DR/GPS/map-match (MM) is proposed and implemented. DR is used as the primary navigation system while GPS and MM are used as aiding systems. The algorithm consists of 3 sub-algorithms, which are DR-GPS data fusion algorithm, map-match algorithm, and DR parameter correction algorithm. The data fusion algorithm first fuses the DR output and GPS which yields the input of the MM system. The MM algorithm chooses the proper road and project the vehicle position onto the road, which is based on a fuzzy road choosing theory that takes the distance and azimuth difference between the vehicle and alternative road into consideration. A similarity flag which represents the reliability of the MM data is proposed to enhance the robustness of the data fusion between DR and MM. The MM data is used not only to update positioning information of the DR but also to correct the parameters such as gyroscope scale factor and odometer scale factor, which greatly helps prevent the DR error from going wild.
Keywords :
Global Positioning System; error correction; fuzzy set theory; inertial navigation; road vehicles; sensor fusion; traffic engineering computing; DR parameter correction algorithm; DR-GPS data fusion algorithm; DR/GPS/map-match integrated navigation system; data fusion; fuzzy road choosing theory; gyroscope scale factor; map-match algorithm; odometer scale factor; Azimuth; Dead reckoning; Error correction; Global Positioning System; Gyroscopes; Hardware; Inertial navigation; Road vehicles; Robustness; System testing; Map-Match; data fusion; dead reckoning; error correction; fuzz ycontrol; integrated navigation;
Conference_Titel :
Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-3863-1
Electronic_ISBN :
978-1-4244-3864-8
DOI :
10.1109/ICEMI.2009.5274258