For various ITS applications such as advanced public transport system, floating car data collection, emergency support system, etc., accurate, continuous, real-time and reliable vehicle positioning is required increasingly. Usually one sensor source is not reliable. Instead multi-sensors are adopted to realize reliable and continuous positioning in real-time for the critical applications. In order to verify the feasibility of the proposed method, GPS/DGPS (for absolute positioning) and inertial sensors (for relative positioning) were selected as the different test sensors. GPS has good low-frequency behavior, but poor high-frequency behavior. Inertial sensors (and dead-reckoning) have the opposite characteristics. By using their complementary characteristics advantageously, we can implement accurate and reliable vehicle positioning. In order to integrate the multi-sensors effectively, a successful error compensation model for the selected cheap inertial sensors is developed and EKF (Extended Kalman Filter) is applied to get the optimal vehicle position estimation. Preliminary field tests performed at the west campus of the Ohio State University gave the prospective results.


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    Title :

    Vehicle Positioning by Integrating GPS and Inertial Sensors


    Contributors:
    Cai, Baigen (author) / Ozguner, Umit (author)

    Conference:

    International Conference on Traffic and Transportation Studies (ICTTS) 2002 ; 2002 ; Guilin, China



    Publication date :

    2002-07-10




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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