Abstract
This paper explores the applicability of on-board diagnostics data for minimizing inertial navigation errors in vehicles. The results of driving tests were presented and discussed. Knowledge of a vehicle’s exact initial position and orientation was crucial in the navigation process. Orientation errors at the beginning of navigation contributed to positioning errors. GPS data were not processed by the algorithm during navigation.
Highlights
Knowledge of a vehicle’s position and velocity is essential for many applications, in particular in outdoor vehicles
This paper explores the applicability of on-board diagnostics data for minimizing inertial navigation errors in vehicles
The data acquired by electronic on-board diagnostic (OBD) systems in vehicles can be used for self-localization (Merriaux et al 2014)
Summary
Knowledge of a vehicle’s position and velocity is essential for many applications, in particular in outdoor vehicles. GPS is widely used for accurate and robust localization. The GPS signal can be jammed or turned off. For these reasons, there is a high demand for other navigation techniques (Prusaczyk et al 2018a). Inertial navigation systems are theoretically optimal because they do not require external signals to estimate an object’s movement. Such systems integrate measurements of rotation and acceleration rate to estimate an object’s position. The data acquired by electronic on-board diagnostic (OBD) systems in vehicles can be used for self-localization (Merriaux et al 2014)
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