Smartphone-based sensor fusion for improved vehicular navigation

In this paper we present a system for car navigation by fusing sensor data on an Android smartphone. The key idea is to use both the internal sensors of the smartphone (e.g., gyroscope) and sensor data from the car (e.g., speed information) to support navigation via GPS. To this end we employ a CAN-Bus-to-Bluetooth adapter to establish a wireless connection between the smartphone and the CAN-Bus of the car. On the smartphone a strapdown algorithm and an error-state Kalman filter are used to fuse the different sensor data streams. The experimental results show that the system is able to maintain higher positioning accuracy during GPS dropouts, thus improving the availability and reliability, compared to GPS-only solutions.