TY - JOUR 
A1 - Toledo Moreo, Rafael
AU - Zamora Izquierdo, Miguel Ángel
AU - Úbeda Miñarro, Benito
AU - Gómez Skarmeta, Antonio Fernando
T1 - High integrity IMM-EKF based road vehicle navigation with low cost GPS/INS.
Y1 - 2007
SN - 1524-9050
UR - http://hdl.handle.net/10317/425
UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4298913&isnumber=4298892
AB - 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 lowcost GNSS-based solutions, dead reckoning systems, single-model EKF, and other filtering approaches of the current literature.
KW - Tecnología Electrónica
KW - Fusión de datos
KW - Sensor inertial
KW - Integridad
KW - Interactivo
KW - Multimodelo (IMM)
KW - Sistema de navegación
KW - Navegación por satélite
KW - Data fusion
KW - Inertial sensors
KW - Integrity
KW - Interactive
KW - Multimodel (IMM)
KW - Navigation system
LA - eng
PB - Institute Electrical and Electronics Engineers.
ER -