Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Statistical Digital Signal Processing and Modeling
Statistical Digital Signal Processing and Modeling
On sequential Monte Carlo sampling methods for Bayesian filtering
Statistics and Computing
Digital Signal Processing (4th Edition)
Digital Signal Processing (4th Edition)
Global Positioning Systems, Inertial Navigation, and Integration
Global Positioning Systems, Inertial Navigation, and Integration
Aided Navigation: GPS with High Rate Sensors
Aided Navigation: GPS with High Rate Sensors
In-car positioning and navigation technologies: a survey
IEEE Transactions on Intelligent Transportation Systems
A low-cost solution for an integrated multisensor lane departure warning system
IEEE Transactions on Intelligent Transportation Systems
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
IEEE Transactions on Signal Processing
A car test for the estimation of GPS/INS alignment errors
IEEE Transactions on Intelligent Transportation Systems
Lane keeping based on location technology
IEEE Transactions on Intelligent Transportation Systems
DGPS-Based Vehicle-to-Vehicle Cooperative Collision Warning: Engineering Feasibility Viewpoints
IEEE Transactions on Intelligent Transportation Systems
High-Integrity IMM-EKF-Based Road Vehicle Navigation With Low-Cost GPS/SBAS/INS
IEEE Transactions on Intelligent Transportation Systems
Next-Generation Automated Vehicle Location Systems: Positioning at the Lane Level
IEEE Transactions on Intelligent Transportation Systems
A conceptual model of trust for indoor positioning systems
Proceedings of the 3rd ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness
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To have a continuous navigation solution that does not suffer from interruption, GPS is integrated with relative positioning techniques such as odometry and inertial navigation. Targeting a low-cost navigation solution for land vehicles, this paper uses a reduced multisensor system consisting of one microelectromechanical-system (MEMS)-based single-axis gyroscope used together with the vehicle's odometer, and the whole system is integrated with GPS. This system provides a 2-D navigation solution, which is adequate for land vehicles. The traditional technique for this multisensor integration problem is Kalman filtering (KF). Due to the inherent errors of MEMS inertial sensors and their stochastic nature, which is difficult to model, the KF with its linearized models has limited capabilities in providing accurate positioning. Particle filtering (PF) has recently been suggested as a nonlinear filtering technique to accommodate arbitrary inertial sensor characteristics, motion dynamics, and noise distributions. An enhanced version of PF is utilized in this paper and is called the Mixture PF. Since PF can accommodate nonlinear models, this paper uses total-state nonlinear system and measurement models. In addition, sophisticated models are used to model the stochastic drift of the MEMS-based gyroscope. A nonlinear system identification technique based on parallel cascade identification (PCI) is used to model this stochastic gyroscope drift. In this paper, the performance of the PCI model is compared with that of higher order autoregressive (AR) stochastic models. Such higher order models are difficult to use with KF since the size of the dynamic matrix and the error-covariance matrix becomes very large and complicates the KF operation. The performance of the proposed 2-D navigation solution using Mixture PF with both PCI and higher order AR models is examined by road-test trajectories in a land vehicle. The two proposed combinations are compared with four other 2-D solutions: a Mixture PF with the Gauss-Markov (GM) model for the gyro drift, a Mixture PF with only white Gaussian noise (WGN) for stochastic gyro errors, and two different KF solutions with GM model for the gyro drift. The experimental results show that the two proposed solutions outperform all the compared counterparts.