Data fusion of four ABS sensors and GPS for an enhanced localization of car-like vehicles

Author

Bonnifait, Philippe ; Bouron, Pascal ; Crubille, Paul ; Meizel, Dominique

Author_Institution

Univ. de Technol. de Compiegne, France

Volume

2

fYear

2001

fDate

2001

Firstpage

1597

Abstract

A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. An odometric technique using the four ABS sensors is presented. Due to the redundancy of the measurements, the precision is better than the one of differential odometry using the rear wheels only. The sampling is performed when necessary and when a GPS measurement is performed. This implies a noticeable reduction of the GPS latency, simplifying thus the data fusion process and improving the quality of its results.

Keywords

Global Positioning System; Kalman filters; distance measurement; filtering theory; mobile robots; path planning; sensor fusion; state estimation; ABS sensors; GPS; car-like vehicles; data fusion process; driving wheel encoder; enhanced localization; odometric technique; Delay; Global Positioning System; Performance evaluation; Sampling methods; Sensor fusion; Sensor phenomena and characterization; Sensor systems; System testing; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932839

Filename

932839