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Augmented Kalman Filter and Map Matching for 3D RISSGPS Integration for Land Vehicles
Joint Authors
Noureldin, Aboelmagd
Karamat, Tashfeen B.
Cossaboom, Matthew
Georgy, Jacques
Source
International Journal of Navigation and Observation
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-02-13
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
Owing to their complimentary characteristics, global positioning system (GPS) and inertial navigation system (INS) are integrated, traditionally through Kalman filter (KF), to obtain improved navigational solution.
To reduce the overall cost of the system, microelectromechanical system- (MEMS-) based INS is utilized.
One of the approaches is to reduce the number of low-cost inertial sensors, decreasing their error contribution which leads to a reduced inertial sensor system (RISS).
This paper uses KF to integrate GPS and 3D RISS in a loosely coupled fashion to enhance navigational solution while further improvement is achieved by augmenting it with map matching (MM).
The 3D RISS consists of only one gyroscope and two accelerometers along with the vehicle’s built-in odometer.
MM limits the error growth during GPS outages by restricting the predicted positions to the road networks.
The performance of proposed method is compared with KF-only 3D RISS/GPS integration to demonstrate the efficacy of the proposed technique.
American Psychological Association (APA)
Cossaboom, Matthew& Georgy, Jacques& Karamat, Tashfeen B.& Noureldin, Aboelmagd. 2012. Augmented Kalman Filter and Map Matching for 3D RISSGPS Integration for Land Vehicles. International Journal of Navigation and Observation،Vol. 2012, no. 2012, pp.1-16.
https://search.emarefa.net/detail/BIM-482147
Modern Language Association (MLA)
Cossaboom, Matthew…[et al.]. Augmented Kalman Filter and Map Matching for 3D RISSGPS Integration for Land Vehicles. International Journal of Navigation and Observation No. 2012 (2012), pp.1-16.
https://search.emarefa.net/detail/BIM-482147
American Medical Association (AMA)
Cossaboom, Matthew& Georgy, Jacques& Karamat, Tashfeen B.& Noureldin, Aboelmagd. Augmented Kalman Filter and Map Matching for 3D RISSGPS Integration for Land Vehicles. International Journal of Navigation and Observation. 2012. Vol. 2012, no. 2012, pp.1-16.
https://search.emarefa.net/detail/BIM-482147
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-482147