Even though reliable performance of a vehicle navigation system in urban areas is essential, most of the currently available navigation technologies are not capable of achieving this as standalone systems. For instance GPS, which is one of the leading technologies in vehicle navigation and positioning, suffers considerable performance degradation in urban environments. Being a line-of-sight system, GPS performance degrades rapidly as GPS signals are blocked, weakened or reflected by tall buildings, dense tree canopy or strong reflectors in urban environments. A Global Positioning System (GPS) technology development known as high sensitivity GPS (HSGPS) can significantly improve availability in challenging environments such as in urban canyons where standard GPS performance is extremely poor. However, this technology could produce higher measurement noise, multipath and cross-correlation errors resulting in position errors of hundreds of metres in such cases. This paper develops a portable vehicle navigation system by aiding a standalone HSGPS receiver with self-contained inertial sensors and map-matching. Since traditional GPS error estimation methods are shown to be invalid in urban canyon environments for HSGPS, nontraditional data fusion algorithms are needed for augmenting HSGPS with self-contained sensors. A unique map-matching technique is presented that uses both position and velocity measurements and works with a vehicle dynamics model. The model provides a means to assess the quality of HSGPS measurements and therefore an integration mechanism for inertial sensors. The integrated system was tested in a suburban area as well as in a downtown core with buildings of 10 to 50 stories and mask angles of up to 80 degrees. The system performance under severe GPS signal degradation and multipath conditions is presented.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A portable vehicular navigation system using high sensitivity GPS augmented with inertial sensors and map-matching


    Weitere Titelangaben:

    Tragbares Fahrzeugnavigationssystem mit einem durch Trägheitssensoren und Map-Matching unterstützten Hochempfindlichkeits-GPS


    Beteiligte:
    Basnayake, C. (Autor:in) / Mezentsev, O. (Autor:in) / Lachapelle, G. (Autor:in) / Cannon, M.E. (Autor:in)


    Erscheinungsdatum :

    2004


    Format / Umfang :

    9 Seiten, 17 Bilder, 12 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    A Portable Vehicular Navigation System Using High Sensitivity GPS Augmented with Inertial Sensors and Map-matching

    Basnayake, C. / Lachapelle, G. / Cannon, M. E. et al. | SAE Technical Papers | 2004


    2004-01-0748 A Portable Vehicular Navigation System Using High Sensitivity GPS Augmented with Inertial Sensors and Map-matching

    Basnayake, C. / Mezentsev, O. / Lachapelle, G. et al. | British Library Conference Proceedings | 2004



    An Augmented Gimballess Inertial Navigation System

    Grammatikos, A. / Fegley, K. A. | IEEE | 1966