DocumentCode :
2518094
Title :
Performance analysis of a scalable navigation solution using vehicle safety sensors
Author :
Martin, S. ; Rose, C. ; Britt, J. ; Bevly, D. ; Popovic, Zeljko
Author_Institution :
Coll. of Eng., Auburn Univ., Auburn, AL, USA
fYear :
2012
fDate :
3-7 June 2012
Firstpage :
926
Lastpage :
931
Abstract :
GPS receiver performance can suffer in difficult environments such as urban canyons and heavy foliage. Inertial sensors provide information between GPS updates and can enhance the position solution in a GPS/INS architecture. Additional information from safety sensors already on the vehicle, such as lane departure warning (LDW) sensors, can enhance the navigation solution further by constraining inertial errors even in the presence of GPS errors. This paper outlines a scalable navigation solution that can use a combination of GPS, reduced inertial sensors, full inertial data, vehicle CAN data, and vision sensors, depending on what data is available in difficult environments. Data was collected in Detroit, Michigan in a diverse mix of environments that includes heavy foliage, highway, and downtown areas, in proportions representative of what is expected in typical driving. Validation of the approach consists of both a qualitative analysis of the resulting trajectories overlaid on a map of the area and quantitative comparison of the trajectories produced by the proposed system and the reference system.
Keywords :
Global Positioning System; inertial navigation; road safety; sensor fusion; traffic engineering computing; GPS receiver performance; GPS updates; GPS/INS architecture; inertial sensors; lane departure warning sensors; performance analysis; scalable navigation; vehicle CAN data; vehicle safety sensors; vision sensors; Cameras; Global Positioning System; Laser radar; Sensors; Vehicles; Wheels; GPS; IMU; INS; camera; foliage; inertial; lidar; localization; navigation; positioning; sensor fusion; urban canyon; vision;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2012 IEEE
Conference_Location :
Alcala de Henares
ISSN :
1931-0587
Print_ISBN :
978-1-4673-2119-8
Type :
conf
DOI :
10.1109/IVS.2012.6232286
Filename :
6232286
Link To Document :
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