Information Fusion in a Hybrid Tightly Coupled GPS-Dead-Reckoning Positioning System.pdf

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1、2006IEEEInternationalConferenceonWeA01.5MultisensorFusionandIntegrationforIntelligentSystemsSeptember3-6,2006,Heidelberg,GermanyInformationFusioninaHybridTightlyCoupledGPS/Dead-ReckoningPositioningSystem.JamilaKacemi,SergeReboulandMohammedBenjellounLaboratoiredAn

2、alysedesSyst`emesduLittoralUniversit´eduLittoralCotedOpale50RueFerdinandBuisson,B.P.699,62228CalaisCedex,FranceEmail:serge.reboul@lasl.univ-littoral.frAbstractThesubjectofthisarticleisaboutstudyandavailabilityofthesystem(thecontinuouslocalization).Inrealisationof

3、atighthybridfilterforvehiclepositioningindensegeneraltheyarebasedonakinematicmodelofthevehicleurbanarea.InourapproachwefusedthemeasurementscomingdisplacementandareimplementedinaKalmanfilter.Inthefromthesensorsinahybridfilteratthepseudo-rangeslevel.maskingcase,thepos

4、itionisobtainedfromthekinematicTheproposedfiltercombinestheobservables(measurements)ofphaseandcodeofaGPSreceiverwiththemeasurementsofmodel.Inthepresenceofcanyoneffectsormultipaths,anodometerandagyrometer.Wedescribeinthisarticlethethefiltersmoothesthemeasuredpositio

5、nsbythepositionsdesignofthefusionfilterinspiredofthedistributedtracktoobtainedwiththekinematicmodel.trackKalmanfilterarchitecture.Inourapproachthepseudo-Wedefinetwoapproachesforthepositioncalculation,orrangespredictions,constructwiththephasemeasurementsofthelooselyc

6、ouplednavigationandtightnavigation[3].IntheGPSandtheDead-reckoningmeasurementssystem,arefused.ThefusedpredictionsarethemcorrectedwiththeGPScodeloosenavigationthepositionsprovidedbythekinematicmeasurementsofthepseudo-ranges.Weusetheclassicalsnapshotmodelarecoupled

7、inafilterwiththeGPSdata.Intightnavi-leastsquaresestimationtechniquetocalculatethepositionwithgation,thepseudo-rangesmeasurementsarecoupledwiththeirtheestimatedpseudo-ranges.Wepresentinthisarticledifferentevolutionmodels(oftenamodelwithaconstantacceleration).simula

8、tionsresultsobtainedinarealdenseurbancontext.WeThenweuseadirectleastsquaresmethodtocalculatethepo-showthatthetighthybridfilterweproposegivesalocationatleastaspr