In-car positioning and navigation technologies: a survey
IEEE Transactions on Intelligent Transportation Systems
A solution to the ill-conditioned GPS positioning problem in an urban environment
IEEE Transactions on Intelligent Transportation Systems
IMM-based lane-change prediction in highways with low-cost GPS/INS
IEEE Transactions on Intelligent Transportation Systems
Real-time hierarchical outdoor SLAM based on stereovision and GPS fusion
IEEE Transactions on Intelligent Transportation Systems
New likelihood updating for the IMM approach application to outdoor vehicles localization
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fleet management automation using the global positioning system
IIT'09 Proceedings of the 6th international conference on Innovations in information technology
IEEE Transactions on Intelligent Transportation Systems
A sensor fusion framework using multiple particle filters for video-based navigation
IEEE Transactions on Intelligent Transportation Systems
IEEE Transactions on Intelligent Transportation Systems
Creating enhanced maps for lane-level vehicle navigation
IEEE Transactions on Intelligent Transportation Systems
Modeling the stochastic drift of a MEMS-based gyroscope in gyro/odometer/GPS integrated navigation
IEEE Transactions on Intelligent Transportation Systems
Low cost IMU-Odometer-GPS ego localization for unusual maneuvers
Information Fusion
Event-based system for generation of traffic services in road congestions
IWINAC'11 Proceedings of the 4th international conference on Interplay between natural and artificial computation - Volume Part I
Telematic platform for integral management of agricultural/perishable goods in terrestrial logistics
Computers and Electronics in Agriculture
Modeling the impact of observation conditions on localization systems
Information Fusion
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User requirements for the performance of Global Navigation Satellite System (GNSS)-based road applications have been significantly increasing in recent years. Safety systems based on vehicle localization, electronic fee-collection systems, and traveler information services are just a few examples of interesting applications requiring onboard equipment (OBE) capable of offering a high available accurate position, even in unfriendly environments with low satellite visibility such as built-up areas or tunnels and at low cost. In addition to that, users and service providers demand from the OBEs not only accurate continuous positioning but integrity information of the reliability of this position as well. Specifically, in life-critical applications, high-integrity monitored positioning is absolutely required. This paper presents a solution based on the fusion of GNSS and inertial sensors (a Global Positioning System/satellite-based augmentation system/inertial navigation system integrated system) running an extended Kalman filter combined with an interactive multimodel method (IMM-EKF). The solution developed in this paper supplies continuous positioning in marketable conditions and a meaningful trust level of the given solution. A set of tests performed in controlled and real scenarios proves the suitability of the proposed IMM-EKF implementation as compared with low-cost GNSS-based solutions, dead reckoning systems, single-model EKF, and other filtering approaches of the current literature.