OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

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), 3 September 2007 - 7 September 2007 (Poznan, Poland).

(Document in English)

PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader


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
HAL Id:hal-04089971
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Laboratoire de recherche en télécommunications spatiales et aéronautiques - TéSA (FRANCE)
Laboratory name:
Deposited On:19 Oct 2009 15:27

Repository Staff Only: item control page