Vehicle localization using inertial sensors and GPS

被引：0

作者：

Pfeucil, Libor ^{[1
]}

Mazl, Roman ^{[1
]}

机构：

[1] Czech Tech Univ, Fac Elect Engn, Dept Cybernet, Tech E2, Prague 16627 6, Czech Republic

来源：

FIELD AND SERVICE ROBOTICS: RECENT ADVANCES IN RESEARCH AND APPLICATIONS | 2006年 / 24卷

关键词：

data fusion; vehicle locator; odometer; accelerometer; odometry; corrections; inertial navigation; satellite navigation;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The presented contribution describes an approach to preprocessing and fusion of additional vehicle onboard sensors - the odometer and accelerometer, all targeted to serve as optional and temporary substitute for GPS-like navigation. The suggested solution explores a rule-based system for mutual substitutions and calibrations of the used sensors depending on actual conditions. The only usage of the GPS here stands in providing regular position calibrations and serves as a reference method for evaluation of the presented results. The presented solutions have been experimentally tested with real-world data as shown in the experimental part of the paper.

引用

页码：135 / +

页数：2