High integrity IMM-EKF based road vehicle navigation with low cost GPS/INS.
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AuthorToledo Moreo, Rafael; Zamora Izquierdo, Miguel Ángel; Úbeda Miñarro, Benito; Gómez Skarmeta, Antonio F.
Knowledge AreaTecnología Electrónica
SponsorsThis 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.
PublisherInstitute Electrical and Electronics Engineers.
Bibliographic CitationR. 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.
KeywordsFusión de datos
Sistema de navegación
Navegación por satélite
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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