High integrity IMM-EKF based road vehicle navigation with low cost GPS/INS.
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URI: http://hdl.handle.net/10317/425URI: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4298913&isnumber=4298892
ISSN: 1524-9050
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Toledo Moreo, Rafael; Zamora Izquierdo, Miguel Ángel; Úbeda Miñarro, Benito; Gómez Skarmeta, Antonio FernandoKnowledge Area
Tecnología ElectrónicaSponsors
This 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.Publication date
2007-09Publisher
Institute Electrical and Electronics Engineers.Bibliographic Citation
R. Toledo-Moreo, M. A. Zamora-Izquierdo, B. Ubeda-Minarro and A. F. Gomez-Skarmeta, "High-Integrity IMM-EKF-Based Road Vehicle Navigation With Low-Cost GPS/SBAS/INS," in IEEE Transactions on Intelligent Transportation Systems, vol. 8, no. 3, pp. 491-511, Sept. 2007, doi: 10.1109/TITS.2007.902642.Keywords
Fusión de datosSensor inertial
Integridad
Interactivo
Multimodelo (IMM)
Sistema de navegación
Navegación por satélite
Data fusion
Inertial sensors
Integrity
Interactive
Multimodel (IMM)
Navigation system
Abstract
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 ...
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