Land Vehicle Navigation in the Urban Canyon - A Kalman Filter Solution usingIntegrated GPS, GLONASS and Dead Reckoning

Allison N. Kealy, Maria Tsakiri and Mike Stewart

Abstract:	Within the urban canyon, current navigation solutions aim at improving GPS performance by augmenting GPS with low cost dead reckoning (DR) devices. However, two fundamental issues hinder the effectiveness of these solutions. The commonly adopted method of measurement integration within a Kalman filter requires sophisticated stochastic modelling techniques to accurately model the highly dynamic land vehicle trajectory. Additionally, the system performance is heavily dependent on the length of time over which satellite information is unavailable. This paper addresses these issues and presents an integrated vehicle navigation system comprising GPS, the Global Navigation Satellite System (GLONASS) and DR sensors. It describes the mathematical models developed and results obtained from the application of smart stochastic modelling techniques. Finally, results are presented using real GPS/GLONASS/DR data collected in an urban canyon at the city of Perth, Australia.
Published in:	Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999) September 14 - 17, 1999 Nashville, TN
Pages:	509 - 518
Cite this article:	Kealy, Allison N., Tsakiri, Maria, Stewart, Mike, "Land Vehicle Navigation in the Urban Canyon - A Kalman Filter Solution usingIntegrated GPS, GLONASS and Dead Reckoning," Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 509-518.
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