Accurate differential global positioning system via fuzzy logicKalman filter sensor fusion technique
Kobayashi, K.
Cheok, K.C.
Watanabe, K.
Munekata, F.
Dept. of Electr. & Syst. Eng., Oakland Univ., Rochester, MI;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jun 1998
Volume: 45,
Issue: 3
On page(s): 510-518
ISSN: 0278-0046
References Cited: 10
CODEN: ITIED6
INSPEC Accession Number: 5933776
Digital Object Identifier: 10.1109/41.679010
Current Version Published: 2002-08-06
Abstract
The ability to determine an accurate global position of a vehicle
has many useful commercial and military applications. The differential
global positioning system (DGPS) is one of the practical navigation
tools used for this purpose. However, the DGPS has limitations arising
from slow updates, signal interference, and limited accuracy. This paper
describes how vehicle rate sensors ran be used to help a DGPS overcome
these limitations. The theoretical background for the sensor fusion is
based on the principle of Kalman filtering and a fuzzy logic scheme.
Validity of the method was verified by using experimental data from an
actual automobile navigating around an urban area. The results
demonstrated that the path of the automobile can be continuously traced
with high accuracy and repeatability, in spite of the limitations of the
DGPS
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