A hybrid procedure strategy for vehicle localization system: Design and prototyping

被引：14

作者：

Fiengo, Giovanni ^{[1
]}

Di Domenico, Domenico ^{[1
]}

Glielmo, Luigi ^{[1
]}

机构：

[1] Univ Sannio, Dipartimento Ingn, I-82100 Benevento, Italy

来源：

CONTROL ENGINEERING PRACTICE | 2009年 / 17卷 / 01期

关键词：

Kalman filter; Vehicle localization; Hybrid estimation strategy;

D O I：

10.1016/j.conengprac.2008.05.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work presents an estimation strategy that provides a good localization and a highly accurate measurement of the distance run by a public transportation vehicle. To this aim, the vehicle is equipped with a global positioning system (GPS) sensor, to retrieve the geographical position, a wheel speed sensor, to measure the vehicle velocity, and a gyroscope, to measure the yaw velocity. A model-based hybrid procedure has been proposed, based on the GPS signal reliability, guaranteeing robustness for temporary loss of satellite signal. In particular, the algorithm switches between a Kalman filter strategy, when the GPS is available, and an open-loop model-based estimation, when it is not available. The algorithm has been tested both in simulation and experimentally and the results are analyzed. In particular, a prototype has been realized to test the strategy on urban and extra urban circuits in Benevento (Italy). The experiments are conducted on a Lancia Kappa 2.0 vehicle, by means of a dSpace MicroAutoBox electronic control unit. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：14 / 25

页数：12

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