Abstract
A one-dimensional navigation model that integrated dead reckoning, GPS measurements, and a digital map was designed in this paper to determine a vehicle's relative position on a predetermined road route. The state variables in the system included the vehicle's displacement to the starting point along the road and the vehicle's speed. Compared with existing GPS-INS integrated navigation systems, this system featured the following advantages: (1) its computation cost was low, (2) no direction sensor was needed, (3) the NMEA readings from a low-cost GPS receiver were qualified in the system, and (4) the state update equation and the measurement update equation in the system were both linear. Based on simulation results, the proposed system showed promising performance, especially during an outage of the GPS signals, for applications that provided users with map-based positioning information.
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