Road Maintenance Vehicles Location using DGPS, Map-Matching and Dead-Reckoning: Experimental Results of a Smoothed EKF

David Betaille and Philippe Bonnifait

Abstract:	This paper presents a technique to localize outdoors vehicles equipped with a differential GPS receiver, an encoder attached to the wheels and a fiber optic gyrometer. As a precise location is not necessary in realtime for the application considered, the data of the sensors are stored on a computer, while the vehicle is moving, and fused afterwards. Different smoothing techniques are presented and discussed. Thanks to extensive real experiments with many masks of the satellites, a smoother has been validated in comparison with a Post-Processed Kinematic GPS. If the duration of the masks becomes too large, a method which uses a precise digital road map and a Geographical Information System is presented and validated with real data.
Published in:	Proceedings of the IAIN World Congress and the 56th Annual Meeting of The Institute of Navigation (2000) June 26 - 28, 2000 The Catamaran Resort Hotel San Diego, CA
Pages:	409 - 416
Cite this article:	Betaille, David, Bonnifait, Philippe, "Road Maintenance Vehicles Location using DGPS, Map-Matching and Dead-Reckoning: Experimental Results of a Smoothed EKF," Proceedings of the IAIN World Congress and the 56th Annual Meeting of The Institute of Navigation (2000), San Diego, CA, June 2000, pp. 409-416.
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