DGPS/INS/VVheelSensor Integrationfor High Accuracy Land-Vehicle Positioning

Yukihiro Kubo, Tsuyoshi Kindo, Akihiko Ito and Sueo Sugimoto

Abstract:	This paper describes the study on land-vehicle positioning by DGPS/INS/Wheel Sensor integration. Our purpose is to integrate the advantages of these systems and to develop a high precision positioning system that can determine vehi-cle’s trajectory and provide the road profile, In this work, we consider two navigation modes such as DGPS/INS mode and INS/Wheel Sensor mode. When the DGPS signals are available, thus DGPS/INS mode, the ac-curate DGPS solutions are used as measurements in the Kalman filter to calibrate the wheel sensor and to estimate inertial errors (INS errors in position, velocity and attitude) and instruments (accelerometers and gyros) biases or drifts. Then the estimated errors are fed back to INS solutions (po-sition, velocity and attitude) and measured values (accelera-tion and angular rate). If it becomes that DGPS is not available in an urban area or near mountain, the navigation mode is switched to INS/Wheel Sensor mode. The independent wheel sensor is substitute for DGPS, thus the wheel velocity is used as the measurement corresponding to DGPS/INS mode. When the INS/Wheel Sensor mode is utilized, the accuracy of wheel velocity is important. The estimation problem of the error in wheel sensor’s scale factor is also discussed, Finally, the results by using an experimental car for a test run course is shown. Throughout the experiments, DGPS correction information provided by the civil DGPS service in Japan was obtained on telecommunications link with a cellular phone.
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:	555 - 564
Cite this article:	Kubo, Yukihiro, Kindo, Tsuyoshi, Ito, Akihiko, Sugimoto, Sueo, "DGPS/INS/VVheelSensor Integrationfor High Accuracy Land-Vehicle Positioning," Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 555-564.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In