Low-Cost Sensor Constraint GPS Vehicle Navigation in an Urban Environment

Nobuyuki Hayashi

Abstract:	A new inexpensive GPS/sensor land navigation system is introduced and examined. It incorporates barometric height and gyro heading which act as vehicle trajectory constraints to enhance position accuracy and availability in urban environments where satellite signals are frequently blocked by obstructions. The concept of sensor constraint GPS navigation is briefly discussed. Decentralized two-state Kalman filters are implemented to obtain smooth sensor information and to estimate corrections. Error models for sensor input are developed to evaluate the effect of the corresponding constraints. For real-time applications where computation time is critical, an augmented least squares estimator is chosen for position determination. A field test was carried out in the downtown area of Calgary, Canada, and results are compared with unaided DGPS and barometric height aided DGPS solutions. Conclusions are drawn and advantages and disadvantages of this concept are discussed.
Published in:	Proceedings of the 9th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1996) September 17 - 20, 1996 Kansas City, MO
Pages:	1409 - 1417
Cite this article:	Hayashi, Nobuyuki, "Low-Cost Sensor Constraint GPS Vehicle Navigation in an Urban Environment," Proceedings of the 9th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1996), Kansas City, MO, September 1996, pp. 1409-1417.
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