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

被引：0

作者：

Bonnifait, P ^{[1
]}

Bouron, P ^{[1
]}

Crubillé, P ^{[1
]}

Meizel, D ^{[1
]}

机构：

[1] Univ Technol Compiegne, CNRS, Heudiasye UMR 6599, F-60206 Compiegne, France

来源：

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. A new 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.

引用

页码：1597 / 1602

页数：6

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