A robust Map-Match algorithm for DR correction

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original languageEnglish
Title of host publicationApplied Mechanics and Mechanical Engineering
Pages1279-1284
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 International Conference on Applied Mechanics and Mechanical Engineering, ICAMME 2010 - Changsha, China
Duration: 8 Sept 2010 → 9 Sept 2010

Publication series

NameApplied Mechanics and Materials
Volume29-32
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Conference

Conference2010 International Conference on Applied Mechanics and Mechanical Engineering, ICAMME 2010
Country/TerritoryChina
CityChangsha
Period8/09/10 → 9/09/10

Keywords

  • Data fusion
  • Integrated navigation
  • Map-Match
  • Online calibration

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