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Fusion of GPS, INS and odometric data for automotive navigation

Spangenberg, Mariana and Calmettes, Vincent and Tourneret, Jean-Yves Fusion of GPS, INS and odometric data for automotive navigation. (2007) In: European Signal and Image Processing Conference (EUSIPCO 2007), 03-07 Sept 2007, Poznan, Poland .

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Abstract

Nowadays, the demand for accurate and reliable positioning systems is constantly increasing in several applications such as safety of life or liability critical. The global positioning system (GPS) is a world wile known and accepted navigation system used in almost any application requiring tracking. However, the quality of the localization task for ground vehicles is subjected to degrade in outdoor conditions. A severe degradation is for instance observed in urban areas, when the vehicle is subjected to multipath or masking effects interfering with the satellite lines of sight. Using usual pseudo ranges and additional measurement sources is an interesting way of improving the localization performance. This paper studies different fusion approaches based on differential odometry provided by wheel speed sensors (WSS) and inertial sensors such as accelerometers and gyroscopes. Different tracking strategies based on extended and unscented Kalman filters will be investigated and compared for these fusion approaches.

Item Type:Invited Conference
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National des Etudes Spatiales - CNES
Université de Toulouse > Ecole Nationale de l'Aviation Civile - ENAC
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE
Other partners > Rockwell Collins (FRANCE)
Other partners > Thales (FRANCE)
Other partners > Telecom ParisTech (FRANCE)
Université de Toulouse > Université Paul Sabatier-Toulouse III - UPS
Université de Toulouse > Université de Toulouse II-Le Mirail - UTM
Université de Toulouse > Université de Toulouse I-Sciences Sociales - UT1
Laboratory name:
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Deposited By:Cécile de_roquemaurel

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