GPS based land vehicle positioning using Gaussian sum filters

GPS based land vehicle positioning using Gaussian sum filters

In this paper, we consider land vehicle positioning in an urban environment. A nonlinear and non-Gaussian model is derived as the process model whereas GPS pseudo-range and odometer measurements are used as observations. A parametric model is proposed for representing the variations of the observati...

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Bibliographische Detailangaben
Hauptverfasser: Kibangou, A.Y., Monin, A.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Filtering
Filters
Global Positioning System
Jump processes
Land vehicles
Navigation
Noise measurement
Non-linear filters
Parametric statistics
Position measurement
Satellites
Working environment noise
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Beschreibung
Zusammenfassung:In this paper, we consider land vehicle positioning in an urban environment. A nonlinear and non-Gaussian model is derived as the process model whereas GPS pseudo-range and odometer measurements are used as observations. A parametric model is proposed for representing the variations of the observation noise covariance matrix. The performances of the derived Gaussian sum filter are evaluated by using experimental data.
ISSN:1520-6149
2379-190X
DOI:10.1109/ICASSP.2008.4518444