NDLI: Hybrid filtering for map-aided vehicle navigation

Content Provider	IEEE Xplore Digital Library
Author	Boucher, C. Noyer, J.-C.
Copyright Year	2006
Description	Author affiliation: Lab. d'Analyse des Syst. du Littoral, Univ. du Littoral Cote d'Opale, Calais (Boucher, C.; Noyer, J.-C.)
Abstract	In order to provide an accurate positioning, the land-vehicle navigation applications are based on GPS. The addition of a digital road map allows to locate the vehicle continuously and helps the driver to get the best path. These systems are usually enhanced with dead reckoning sensors due to GPS outages in urban areas especially. For instance, the odometer sensors can be used to correct the vehicle location in this case. We present here a global estimation method to solve the fusion problem of the GPS, odometer and digital road map measurements in presence of GPS outages. It relies on a hybrid filter which takes advantage of the combination of a Kalman filter which computes the linear part of the state equations and a particle filter to provide an optimal resolution scheme. When GPS fails, the filter fuses all available pseudo-range measures to improve the vehicle positioning. In the case of an urban transport scenario, the results show that the number of particles is significantly reduced to achieve the same performance of a single particle filter in terms of accuracy. Moreover, software solutions can be developed for real-time applications
Sponsorship	IEEE IM IEEE CIS
Starting Page	46
Ending Page	50
File Size	5560109
Page Count	5
File Format	PDF
ISBN	1424402441
DOI	10.1109/CIMSA.2006.250747
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-12
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filtering Navigation Global Positioning System Particle filters Road vehicles Vehicle driving Dead reckoning Sensor systems Urban areas Nonlinear filters GPS navigation Non-linear and hybrid filtering multisensor fusion
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in