Data fusion of MEMS IMU/GPS integrated system for autonomous land vehicle

被引：3
|
作者：
Wang, Meiling [1 ]
机构：
[1] Beijing Inst Technol, Dept Automat Control, Beijing 100081, Peoples R China
来源：
2006 IEEE International Conference on Information Acquisition, Vols 1 and 2, Conference Proceedings | 2006年
关键词：
artificial intelligence; Kalman filter; MEMS IMU/GPS; ALV; dead-reckoning;
D O I：
10.1109/ICIA.2006.305846
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
To improve the performance of MEMES IMU based integrated system, the data fusion method integrated AI and Kalman filter was discussed. First, GPS signal validity and vehicle motion status were identified by using fuzzy logics. And when GPS doesn't outage, its data were set higher weight to be used to guide ALV; otherwise, AI (Artificial Intelligence) based integration algorithm with the help of Kalman filter was adopted. The method can make full use of the advantages of KF (Kalman Filter) and AI, and reduce their limitations.
引用
收藏
页码：80 / 84
页数：5
相关论文
共 50 条
  • [1] An integrated GPS/MEMS-IMU navigation system for an autonomous helicopter
    Wendel, Jan
    Meister, Oliver
    Schlaile, Christian
    Trommer, Gert F.
    AEROSPACE SCIENCE AND TECHNOLOGY, 2006, 10 (06) : 527 - 533
  • [2] Improving MEMS-IMU/GPS integrated systems for land vehicle navigation applications
    Sasani, S.
    Asgari, J.
    Amiri-Simkooei, A. R.
    GPS SOLUTIONS, 2016, 20 (01) : 89 - 100
  • [3] Improving MEMS-IMU/GPS integrated systems for land vehicle navigation applications
    S. Sasani
    J. Asgari
    A. R. Amiri-Simkooei
    GPS Solutions, 2016, 20 : 89 - 100
  • [4] Land Vehicle Positioning in Urban Area by Integrated GPS/BeiDou/OBD-II/MEMS IMU
    Lim, JoonHoo
    Choi, Kwang Ho
    Kim, LaWoo
    Lee, Hyung Keun
    2016 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION ENGINEERING (ICITE), 2016, : 176 - 180
  • [5] Heading accuracy improvement of MEMS IMU/DGPS integrated navigation system for land vehicle
    Gu, Dongqing
    El-Sheimy, Naser
    2008 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM, VOLS 1-3, 2008, : 1005 - 1009
  • [6] GPS/Low-Cost IMU/Onboard Vehicle Sensors Integrated Land Vehicle Positioning System
    Gao, Jianchen
    Petovello, Mark G.
    Cannon, M. Elizabeth
    EURASIP JOURNAL ON EMBEDDED SYSTEMS, 2007, (01)
  • [7] Data synchronization in IMU/GPS integrated measurement system of vehicle motion parameters
    Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
    不详
    J. Southeast Univ. Engl. Ed., 2006, 2 (200-203):
  • [8] High integrity IMU/GPS navigation loop for autonomous land vehicle applications
    Univ of Sydney, Sydney
    IEEE Trans Rob Autom, 3 (572-578):
  • [9] A high integrity IMU GPS navigation loop for autonomous land vehicle applications
    Sukkarieh, S
    Nebot, EM
    Durrant-Whyte, HF
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (03): : 572 - 578
  • [10] Implementation and experimental test result of a GPS/ins/DR integrated navigation system for ground vehicle using commercial Mems Imu and vehicle can data
    Han J.-S.
    Ji G.-H.
    Won J.-H.
    Journal of Institute of Control, Robotics and Systems, 2020, 26 (01) : 55 - 65
12345