Abstract
Conventionally, the well known position-velocity-acceleration (PVA) model is adopted as the dynamic model of Kalman filter for GPS positioning. However, as a moving vehicle corners at faster speeds, the conventional PVA model without using extra sensors can no longer be adequate for describing the motion of the vehicle. Thus, the positioning result of the vehicle will be less accurate, and normalized innovation squared (NIS) is not suitable as the test statistic for FDE anymore. Therefore, the delta range (DR) equation is proposed to accurately model the dynamic behavior of a maneuvering vehicle. Simulation results show that the proposed DR can perform both positioning and FDE well as the vehicle manoeuvres.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
