NDLI: Augmenting Kalman Filtering with Parallel Cascade Identification for Improved 2D Land Vehicle Navigation

Content Provider	IEEE Xplore Digital Library
Author	Iqbal, U. Georgy, J. Korenberg, M.J. Noureldin, A.
Copyright Year	2010
Abstract	Land vehicle positioning relies mostly on satellite navigation systems such as the Global Positioning System (GPS). However, GPS signals may be degraded or suffer from blockage in urban canyons and tunnels, and the positioning information provided is interrupted. One solution for such a problem is to integrate GPS with an inertial measurement unit (IMU) and the navigation solution is achieved using an estimation technique which is traditionally based on a Kalman filter (KF). In order to have a low cost navigation solution for land vehicles, MEMS-based inertial sensors are used. To further reduce the cost a reduced inertial sensor system (RISS) which consists of only one gyroscope and a speed sensor is integrated with GPS. The position and velocity errors can be estimated by a KF relying on RISS dynamic error model and GPS position and velocity updates. However, low-cost MEMS sensors suffer from complex error characteristics, which are difficult to model by the linearized KF models. The positional accuracy of the integrated system can be improved using Parallel Cascade Identification (PCI) that is cascaded with the KF. The proposed augmented KF-PCI method can handle both linear and nonlinear system errors as the linear parts of the errors are modeled inside the KF and the nonlinear residual RISS errors are modeled by PCI. The performance of this method is examined by road test trajectories in a land vehicle and compared to KF.
Starting Page	1
Ending Page	5
File Size	608362
Page Count	5
File Format	PDF
ISBN	9781424435739
ISSN	10903038
DOI	10.1109/VETECF.2010.5594107
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Azimuth Mathematical model Sensors Nonlinear systems Land vehicles
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