Abstract
Recently, to improve safety and convenience in driving, numerous sensors are mounted on cars to operate advanced driver assistant systems. Among various sensors, vehicle dynamic sensors can measure the vehicle motions such as speed and rotational angular speed for dead reckoning, which can be applied to develop a land vehicle positioning system to overcome the weaknesses of the GNSS technique. In this paper, three land vehicle positioning algorithms that integrate GNSS with vehicle dynamic sensors including a wheel speed sensor (WSS), a yaw rate sensor (YRS), and a steering angle sensor (SAS) are implemented, and then a performance evaluation was conducted during GNSS outages. Using a loosely coupled strategy, three integration algorithms are designed, namely, GNSS/WSS, GNSS/WSS/YRS, and GNSS/WSS/YRS/SAS. The performance of the three types of integration algorithm is evaluated based on two data sets. The results indicate that both the GNSS/WSS/YRS integration and the GNSS/WSS/YRS/SAS integration could estimate the horizontal position with meter-level accuracy during 30-second GNSS outages. However, the GNSS/WSS integration would provide an unstable navigation solution during GNSS outages due to the accuracy limitation of the computed yaw rate using WSS.
Highlights
The vehicle positioning technique is a key component in car navigation to find and guide routes
This study presents the performance evaluation of a land vehicle positioning system encompassing GNSS combined with a two-dimensional dead reckoning (DR) based on vehicle dynamic sensors
To develop GNSS/vehicle dynamic sensor based positioning algorithms, vehicle dynamic sensors used wheel speed sensor (WSS), yaw rate sensor (YRS), and steering angle sensor (SAS), which were already installed in the test vehicle
Summary
The vehicle positioning technique is a key component in car navigation to find and guide routes. In order to overcome the limitations of the GNSS based positioning technique, three land vehicle positioning algorithms that integrate GNSS with vehicle dynamic sensors (WSS, YRS, and SAS) are implemented, and the performance evaluation was conducted in GNSS signal blockage situations. The GNSS measurement vector consists of difference between the latitude, the longitude, the north velocity, and the east velocity estimated from DR based on vehicle dynamic sensors and GNSS receiver, as shown below:. In EKF-based GNSS/WSS/YRS/SAS integration, the state vector of the navigation error is composed of the latitude and longitude error, the north and east velocity error, the yaw error, and the side slip angle error. Output range 0∼511.75 km/h −40.95∼40.95 deg/s −3276.8∼3276.6 deg Resolution 0.125 km/h 0.01 deg/s
Sign-in/Register to view highlights & summary 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
