By Topic

Model based GPS/INS integration for high accuracy land vehicle applications

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
C. Spagnol ; Dept. of Inf. Eng., Padova Univ., Italy ; R. Muradore ; M. Assom ; A. Beghi
more authors

In this paper, we consider the problem of trajectory reconstruction for the mobile mapping system Davide. Davide is equipped with a custom GPS/INS system and a number of dead-reckoning sensors, such as odometers, inclinometers, etc. The application falls in the framework of state reconstruction with multi-sensor architectures, for which GPS/INS integration is a paradigmatic problem. In this paper, to maximize the accuracy of trajectory reconstruction, we propose to use a combination of two strategies, namely: a) to use a customized dynamical model of the vehicle, that includes nonholonomic constraints and load transfer in roll and pitch, and b) to use advanced nonlinear filtering techniques such as Montecarlo filters. The performance of proposed algorithm is illustrated by means of both simulations and real vehicle data.

Published in:

IEEE Proceedings. Intelligent Vehicles Symposium, 2005.

Date of Conference:

6-8 June 2005