NDLI: Rao-Blackwellised particle filtering for low-cost encoder/INS/GNSS integrated vehicle navigation with wheel slipping

Content Provider	IET Digital Library
Author	Zhou, Haoyu Yao, Zheng Fan, Caoming Wang, Shengli Lu, Mingquan
Abstract	This study presents a Rao-Blackwellised particle filter (RBPF)-based encoder/inertial navigation system (INS)/global navigation satellite system (GNSS) integration method for improving the navigation performance of an autonomous land vehicle (ALV) with wheel slipping. In contrast to traditional integration methods, the proposed integration method introduces an overall wheel slip consideration for the ALV, which greatly improves the accuracy of the velocity estimation, especially when the inertial sensor is low cost. Additionally, the proposed integrated system uses double-difference pseudorange measurements instead of single point positioning results provided by low-cost GNSS receivers, which greatly improves the accuracy of the position estimation. To verify the navigation performance of the proposed integrated system, comparisons between the states estimated by the proposed system, the EKF-based integrated system and the joint wheel-slip and motion-estimation system are provided. The results of the experiment show that the proposed integrated system has the highest accuracy in both the position estimation and the velocity estimation among the three compared systems, and can improve the navigation performance during GNSS signals outages.
Starting Page	1890
Ending Page	1898
Page Count	9
ISSN	17518784
Volume Number	13
e-ISSN	17518792
Issue Number	Issue 11, Nov (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/13/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2019.0108
Journal	IET Radar, Sonar & Navigation
Publisher Date	2019-06-25
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	ALV Autonomous Land Vehicle Double-difference Pseudorange Measurement EKF-based Integrated System Filtering Method in Signal Processing Global Navigation Satellite System Integration Method GNSS Signal Outages Inertial Navigation System Inertial Sensor Joint Wheel-slip Low-cost Encoder-INS-GNSS Integrated Vehicle Navigation Low-cost GNSS Receiver Motion-estimation System Navigation Performance Particle Filter Position Estimation Radio Navigation And Direction Finding Rao-Blackwellised Particle Filter-based Encoder Remotely Operated Vehicle Road Vehicle Satellite Navigation Single Point Positioning State Estimation Time Update Model Traditional Integration Method Velocity Estimation Velocity Estimation Accuracy Wheel Encoder Data Wheel Slipping Wheels
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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