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

fYear

2010

fDate

21-23 Oct. 2010

Firstpage

1

Lastpage

5

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CCPR.2010.5659186

Filename

5659186