TY - GEN
T1 - A robust Map-Match algorithm for DR correction
AU - Han, Yongqiang
AU - Liu, Zhide
AU - Chen, Jiabin
PY - 2010
Y1 - 2010
N2 - In this paper, a robust correction algorithm for Dead Reckoning (DR) navigation system is proposed based on digital map. The DR system here contains an IMU unit, in which 3 Ring Laser Gyros (RLG) and 3 accelerometers are consisted, providing azimuth angle, and an odometer that can provide mileage increament. An improved Map-Match algorithm is designed and implemented, which composes a "road correction" unit and a "road projection" unit based on geometry theory. To enhance the robustness of the system, a new communication protocol is designed. Based on the information provided by digital map, the DR system can not only corrects the position output, but also estimates the odometer scale factor error with a newly designed online calibration algorithm. Road test is conducted and the results have testified the effectiveness of the algorithm.
AB - In this paper, a robust correction algorithm for Dead Reckoning (DR) navigation system is proposed based on digital map. The DR system here contains an IMU unit, in which 3 Ring Laser Gyros (RLG) and 3 accelerometers are consisted, providing azimuth angle, and an odometer that can provide mileage increament. An improved Map-Match algorithm is designed and implemented, which composes a "road correction" unit and a "road projection" unit based on geometry theory. To enhance the robustness of the system, a new communication protocol is designed. Based on the information provided by digital map, the DR system can not only corrects the position output, but also estimates the odometer scale factor error with a newly designed online calibration algorithm. Road test is conducted and the results have testified the effectiveness of the algorithm.
KW - Data fusion
KW - Integrated navigation
KW - Map-Match
KW - Online calibration
UR - http://www.scopus.com/inward/record.url?scp=78650772574&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.29-32.1279
DO - 10.4028/www.scientific.net/AMM.29-32.1279
M3 - Conference contribution
AN - SCOPUS:78650772574
SN - 9780878492459
T3 - Applied Mechanics and Materials
SP - 1279
EP - 1284
BT - Applied Mechanics and Mechanical Engineering
T2 - 2010 International Conference on Applied Mechanics and Mechanical Engineering, ICAMME 2010
Y2 - 8 September 2010 through 9 September 2010
ER -