Mimics: Exploiting Satellite Technology for an Intelligent Convoy
IEEE Intelligent Systems
Global Positioning Systems, Inertial Navigation, and Integration
Global Positioning Systems, Inertial Navigation, and Integration
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
IMM-based lane-change prediction in highways with low-cost GPS/INS
IEEE Transactions on Intelligent Transportation Systems
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International research is very active in the topic of data fusion between GNSS and proprioceptive sensors to improve basic GNSS performances for advanced location-based aiding systems. In this frame, recursive Bayesian estimation methods, still are the most efficient and the most popular tools for measurement data fusion. This paper is to present comparisons, on the one hand between two very popular forms of the Kalman Filter: the so-called Linearized Kalman Filter (LKF), and the Extended Kalman Filter (EKF), and on the other hand between the Kalman Filter and one of its most promising challengers: the Particle Filter (PF). Experimental tests performed in two different circuits and discussion about comparative results are presented.