Reduced Inertial Sensor System (RISS)/GPS Integration using Particle Filtering for Land Vehicles

Jacques Georgy, Umar Iqbal, Mohamed Bayoumi and Aboelmagd Noureldin

Abstract:	Land vehicle positioning is currently widely achieved using the Global Positioning System (GPS). However, in some environments, such as urban canyons or tunnels, the GPS satellite signal is blocked and there is an interruption in the positioning information provided. The common solution for vehicle positioning during GPS outages is to augment GPS with an inertial measurement unit (IMU). The information from both systems are fused and the navigation solution is achieved using an estimation technique which is most commonly based on Kalman filter (KF). Targeting a low cost navigation solution for land vehicles, this research uses a reduced inertial sensor system (RISS) with MEMS-based inertial sensors. With the assumption that the vehicle mostly stay in the horizontal plane, the RISS consist of only one single-axis gyroscope used together with the vehicle’s odometer and the whole system is integrated with GPS. To improve the positioning accuracy of the MEMS-based RISS/GPS integration, particle filtering (PF) is used as a nonlinear filtering technique. PF is able to deal with nonlinear models, in contrast with Linearized KF (LKF) and Extended KF (EKF) which need to linearize the models. Because of PF ability to deal with nonlinear models, it can accommodate arbitrary sensor characteristics and motion dynamics. An enhanced version of Particle filtering is used which will be called Mixture Particle filter. The performance of this method is examined by road test trajectories in land vehicles and is compared to KF-based technique for RISS/GPS integration. The results demonstrate that the Particle filter solution outperforms the Kalman filter solution during GPS outages.
Published in:	Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008) September 16 - 19, 2008 Savannah International Convention Center Savannah, GA
Pages:	30 - 37
Cite this article:	Georgy, Jacques, Iqbal, Umar, Bayoumi, Mohamed, Noureldin, Aboelmagd, "Reduced Inertial Sensor System (RISS)/GPS Integration using Particle Filtering for Land Vehicles," Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008), Savannah, GA, September 2008, pp. 30-37.
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