Nonlinear Modeling of Azimuth Error for 2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering
Joint Authors
Noureldin, Aboelmagd
Iqbal, Umar
Korenberg, Michael J.
Georgy, Jacques
Source
International Journal of Navigation and Observation
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-10-10
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Present land vehicle navigation relies mostly on the Global Positioning System (GPS) that may be interrupted or deteriorated in urban areas.
In order to obtain continuous positioning services in all environments, GPS can be integrated with inertial sensors and vehicle odometer using Kalman filtering (KF).
For car navigation, low-cost positioning solutions based on MEMS-based inertial sensors are utilized.
To further reduce the cost, a reduced inertial sensor system (RISS) consisting of only one gyroscope and speed measurement (obtained from the car odometer) is integrated with GPS.
The MEMS-based gyroscope measurement deteriorates over time due to different errors like the bias drift.
These errors may lead to large azimuth errors and mitigating the azimuth errors requires robust modeling of both linear and nonlinear effects.
Therefore, this paper presents a solution based on Parallel Cascade Identification (PCI) module that models the azimuth errors and is augmented to KF.
The proposed augmented KF-PCI method can handle both linear and nonlinear system errors as the linear parts of the errors are modeled inside the KF and the nonlinear and residual parts of the azimuth errors are modeled by PCI.
The performance of this method is examined using road test experiments in a land vehicle.
American Psychological Association (APA)
Iqbal, Umar& Georgy, Jacques& Korenberg, Michael J.& Noureldin, Aboelmagd. 2010. Nonlinear Modeling of Azimuth Error for 2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering. International Journal of Navigation and Observation،Vol. 2010, no. 2010, pp.1-13.
https://search.emarefa.net/detail/BIM-500365
Modern Language Association (MLA)
Iqbal, Umar…[et al.]. Nonlinear Modeling of Azimuth Error for 2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering. International Journal of Navigation and Observation No. 2010 (2010), pp.1-13.
https://search.emarefa.net/detail/BIM-500365
American Medical Association (AMA)
Iqbal, Umar& Georgy, Jacques& Korenberg, Michael J.& Noureldin, Aboelmagd. Nonlinear Modeling of Azimuth Error for 2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering. International Journal of Navigation and Observation. 2010. Vol. 2010, no. 2010, pp.1-13.
https://search.emarefa.net/detail/BIM-500365
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-500365