Abstract
Real-time continuous localization is a key technology in the development of intelligent transportation systems. In these systems, it is very important to have accurate information about the position and heading angle of the vehicle at all times. The most widely implemented methods for positioning are the global positioning system (GPS), vision-based system, and magnetic marker system. Among these methods, the magnetic marker system is less vulnerable to indoor and outdoor environment conditions; moreover, it requires minimal maintenance expenses. In this paper, we present a position estimation scheme based on magnetic markers and odometry sensors for an all-wheel-steering vehicle. The heading angle of the vehicle is determined by using the position coordinates of the last two detected magnetic markers and odometer data. The instant position and heading angle of the vehicle are integrated with an extended Kalman filter to estimate the continuous position. GPS data with the real-time kinematics mode was obtained to evaluate the performance of the proposed position estimation system. The test results show that the performance of the proposed localization algorithm is accurate (mean error: 3 cm; max error: 9 cm) and reliable under unexpected missing markers or incorrect markers.
Highlights
Many studies on autonomous navigation systems (ANSs) in intelligent transportation systems (ITSs) have been conducted
In thisInpaper, havewe presented a position estimation estimation scheme based on magnetic markers and odometry sensors for a vehicle with
18-m-long scheme based on magnetic markers and odometry sensors for a vehicle with 18-m-long articulation articulation and three-wheel
Summary
Many studies on autonomous navigation systems (ANSs) in intelligent transportation systems (ITSs) have been conducted. The magnetic guidance system applies magnetic materials in the form of magnetic tape or a magnetic marker to the road It analyzes the magnetic signal detected when a vehicle equipped with a magnetic detection sensor passes; the system measures the vehicle’s relative position on the road center or its absolute position [18]. A number of technologies should be combined to calculate the absolute position of the vehicle based on the magnetic marker. Once the heading angle is determined, the absolute position of the vehicle is determined using that information and the magnetic sensor detection distance. The heading and absolute position of the vehicle are determined only at the time of the magnetic detection; this information should be combined with the EKF to calculate the continuous position on a real-time basis.
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