Fast GPS-DR Sensor Fusion Framework: Removing the Geodetic Coordinate Conversion Process

This paper proposes a fast GPS and dead reckoning (DR) sensor fusion framework by applying a simplified coordinate conversion process to a Bayesian filter. To integrate the GPS and DR information, the two different coordinate systems of the GPS and DR must be unified. Many previous studies of coordinate conversion have been conducted to unify the coordinates of GPS and DR. However, computational limitations arise due to their complex conversion equations. Therefore, we present a simplified coordinate conversion process that approximately converts the DR coordinates into GPS coordinates based on linearization of the Earth geodetic model. By applying the simplified coordinate conversion to the GPS-DR fusion framework, we reduce the computation burden while remaining within the necessary tolerance for conversion error. The computational efficiency of the proposed framework is verified through experiments and comparisons with previous studies.