Vehicles Modeling and Multi-Sensor Smoothing Techniques for Post-Processed Vehicles Localisation

David Bétaille and Philippe Bonnifait

Abstract:	The present paper reports the latest experimental results of a prototype system developed by LCPC with technical assistance of Heudiasyc for its pavement management vehicles. Specification requirements can be summarized by - one meter precision, - for regional itineraries, - including urban environment, - in a navigation post-processing. Dedicated geo-synchronous satellites services provide differential GPS corrections suitable for the application concerned. The assistance of dead-reckoning sensors to estimate the position of the vehicle during DGPS masks enables the continuity of localisation. An improvement of an original algorithm for postprocessing the trajectory of the vehicle is presented: it is based on a combination of Extended Kalman Filtering, with series of geometrical transformations applied for drift correction during certain mask periods, under a certain condition. As concerns the Extended Kalman Filter, a comprehensive set of odometric models of vehicles is described, considering for instance that the encoder can be located at front or rear wheels.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	2412 - 2422
Cite this article:	Bétaille, David, Bonnifait, Philippe, "Vehicles Modeling and Multi-Sensor Smoothing Techniques for Post-Processed Vehicles Localisation," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 2412-2422.
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