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dc.contributor.authorToledo Moreo, Rafael 
dc.contributor.authorZamora Izquierdo, Miguel A. 
dc.contributor.authorÚbeda, B. 
dc.contributor.authorSkarmeta, A. 
dc.date.accessioned2008-09-15T10:38:23Z
dc.date.available2008-09-15T10:38:23Z
dc.date.issued2007-09
dc.identifier.citationTOLEDO, R., ZAMORA, M.,ÚBEDA, B., SKARMETA, A. High-Integrity IMM-EKF-Based Road Vehicle Navigation with low Cost GPS/INS. IEEE Transactions on Intelligent Transportation Systems, vol.8 (3): 491-511, September 2007. ISSN 1524-9050es
dc.identifier.issn1524-9050
dc.description.abstractUser 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 lowcost GNSS-based solutions, dead reckoning systems, single-model EKF, and other filtering approaches of the current literature.es
dc.description.sponsorshipThis work was supported in part by the Spanish Ministerio de Fomento under Grant FOM/3929/2005 and by the Galileo Joint Undertaking (GJU) under Grant GIROADS 332599. The Associate Editor for this paper was Y. Wang.es
dc.formatapplication/pdf
dc.language.isoenges
dc.publisherInstitute Electrical and Electronics Engineers.es
dc.rightsCopyright © 2007 IEEE
dc.titleHigh Integrity IMM-EKF Based Road Vehicle Navigation with Low Cost GPS/INS.es
dc.typeinfo:eu-repo/semantics/articlees
dc.subjectFusión de datoses
dc.subjectSensor inertiales
dc.subjectIntegridad
dc.subjectInteractivo
dc.subjectMultimodelo (IMM)
dc.subjectSistema de navegación
dc.subjectNavegación por satélite
dc.subjectData fusion
dc.subjectInertial sensors
dc.subjectIntegrity
dc.subjectInteractive
dc.subjectMultimodel (IMM)
dc.subjectNavigation system
dc.subject.otherTecnología Electrónicaes
dc.identifier.urihttp://hdl.handle.net/10317/425
dc.identifier.urihttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4298913&isnumber=4298892
dc.identifier.doi10.1109/TITS.2007.902642
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess


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