TY - GEN
T1 - A data fusion algorithm for DR/GPS/Map-Match integrated navigation system
AU - Yongqiang, Han
AU - Zhide, Liu
AU - Jiabin, Chen
AU - Ling, Xie
PY - 2009
Y1 - 2009
N2 - In this paper, a data fusion algorithm for DR/GPS/Map-Match (MM) is proposed and implemented. DR is used as the primary navigation system while GPS and MM are used as aiding systems. The algorithm consists of 3 sub-algorithms, which are DR-GPS data fusion algorithm, Map-Match algorithm, and DR parameter correction algorithm. The data fusion algorithm first fuses the DR output and GPS which yields the input of the MM system. The MM algorithm chooses the proper road and project the vehicle position onto the road, which is based on a fuzzy road choosing theory that takes the distance and azimuth difference between the vehicle and alternative road into consideration. A similarity flag which represents the reliability of the MM data is proposed to enhance the robustness of the data fusion between DR and MM. The MM data is used not only to update positioning information of the DR but also to correct the parameters such as gyroscope scale factor and odometer scale factor, which greatly helps prevent the DR error from going wild.
AB - In this paper, a data fusion algorithm for DR/GPS/Map-Match (MM) is proposed and implemented. DR is used as the primary navigation system while GPS and MM are used as aiding systems. The algorithm consists of 3 sub-algorithms, which are DR-GPS data fusion algorithm, Map-Match algorithm, and DR parameter correction algorithm. The data fusion algorithm first fuses the DR output and GPS which yields the input of the MM system. The MM algorithm chooses the proper road and project the vehicle position onto the road, which is based on a fuzzy road choosing theory that takes the distance and azimuth difference between the vehicle and alternative road into consideration. A similarity flag which represents the reliability of the MM data is proposed to enhance the robustness of the data fusion between DR and MM. The MM data is used not only to update positioning information of the DR but also to correct the parameters such as gyroscope scale factor and odometer scale factor, which greatly helps prevent the DR error from going wild.
KW - Data fusion
KW - Dead reckoning
KW - Error correction
KW - Fuzz ycontrol
KW - Integrated navigation
KW - Map-Match
UR - http://www.scopus.com/inward/record.url?scp=71549133406&partnerID=8YFLogxK
U2 - 10.1109/ICEMI.2009.5274258
DO - 10.1109/ICEMI.2009.5274258
M3 - Conference contribution
AN - SCOPUS:71549133406
SN - 9781424438624
T3 - ICEMI 2009 - Proceedings of 9th International Conference on Electronic Measurement and Instruments
SP - 1891
EP - 1896
BT - ICEMI 2009 - Proceedings of 9th International Conference on Electronic Measurement and Instruments
T2 - 9th International Conference on Electronic Measurement and Instruments, ICEMI 2009
Y2 - 16 August 2009 through 19 August 2009
ER -