Title :
Non-linear filtering for land vehicle navigation with GPS outage
Author :
Boucher, C. ; Lahrech, A. ; Noyer, J.C.
Author_Institution :
Laboratoire d´´Analyse des Syst. du Littoral, Universite du Littoral Cote d´´Opale, Calais, France
Abstract :
The aim of this paper is to detail a fusion method for land vehicle navigation using (partial) GPS measurement and odometric information. We focus here on a global estimation method which uses the available GPS signal with partial GPS outage. The method deals with odometer and pseudo-range measures that contain the location parameters of the vehicle. This estimation problem is solved by a particle filter, which has proved its benefits compared to an extended Kalman filter, since it deals with non-linear models and statistics.
Keywords :
Global Positioning System; distance measurement; nonlinear filters; road vehicles; GPS outage; estimation problem; extended Kalman filter; fusion method; global estimation method; land vehicle navigation; nonlinear filtering; odometric information; partial GPS measurement; particle filter; pseudo-range measures; Displacement measurement; Equations; Filtering; Filters; Global Positioning System; Land vehicles; Navigation; Noise measurement; Satellites; Wheels;
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Print_ISBN :
0-7803-8566-7
DOI :
10.1109/ICSMC.2004.1399808
