Abstract
ABSTRACT: Combining high-accuracy vehicle positioning with an equally high-accuracy map database can improve vehicle safety. Applications include traffic controls and warnings for curves, lane departure warnings, and even vehicle control. A prototype vehicular positioning system was developed around a Mercedes M320. The navigation sensors include differential GPS (DGPS), a fiber-optic gyro, and wheel speed sensors. The data fusion is accomplished using a 9-state Kalman filter. To test the effectiveness of the filter, two datasets were collected—one along the freeway and one in an urban canyon environment. For the freeway dataset, accuracies of better than 5 m were obtained during 1 min simulated GPS outages. The standard deviations after 1 min without GPS were approximately 8 m. For the urban canyon dataset, GPS outages of up to 4 min were encountered, and standard deviations varied from less than 1 m to 15 m.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
