On-board Prototype of a vehicle localization system

This work presents experimental tests of a vehicle localization system. Based on data collected by a global positioning system (GPS), an odometer and a gyrometer, to measure respectively vehicle position, vehicle velocity and yaw velocity, an estimation strategy of the vehicle cover distance is designed. A prototype is then realized in order to test the strategy on urban and extra urban circuits in Benevento (Italy). The experiments are conducted on a Lancia Kappa 2.0 vehicle and the prototype is obtained connecting a dSpace MicroAutoBox electronic control unit with a TomTom navigator, a gyrometer and the vehicle odometer. The experimental results are here analyzed.