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Sensor Fusion for Automotive Dead Reckoning Using GPS and IMU for Accurate Position and Velocity Estimation
Nalla Perumal L.P.,
Published in Springer Science and Business Media Deutschland GmbH
Pages: 83 - 95
In recent years, detecting the position of the vehicle is an important task. The goal of detecting the position of the vehicle can be achieved using Global Positioning System (GPS) technology by getting approximate position data of the ego-vehicle. For better and accurate positioning, automotive dead-reckoning can be used. Automotive dead-reckoning (ADR) technology is a high-end navigation system. In this paper, an ADR is used to calculate the position based on the distance and direction of the vehicle traveled from the last known location. This gives an accurate estimation of the 3-axis position and velocity components based on vehicle data retrieved from GPS and Inertial Measurement Unit (IMU) sensor. ADR not only allows full coverage in indoor car parking, tunnels, and underpasses but also effectively eliminates the impact of multipath effects in urban canyons. The vehicle is incorporated with sensors that record wheel rotation along with the steering direction and the sensors are allowed to take continuous measurements with the help of the last known location. The position and velocity shall be corrected even if quality GPS data is available. In case of partial GPS blockage, the estimation shall be done with different strategy/weightage factors. In case of complete GPS blockage, the prediction shall continue for some approximation time, with the help of vehicle and IMU sensor data. Finally, various experiments are conducted using Kalman filter and extended Kalman filter, and the prediction results are found to be satisfactory. © 2021, Springer Nature Singapore Pte Ltd.
About the journal
JournalData powered by TypesetLecture Notes in Mechanical Engineering
PublisherData powered by TypesetSpringer Science and Business Media Deutschland GmbH
Open AccessNo