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Dynamic Localization of Car-like Vehicles using Data Fusion of Redundant ABS Sensors

Published online by Cambridge University Press:  26 August 2003

Ph. Bonnifait ,
P. Bouron ,
D. Meizel  and
P. Crubillé
Ph. Bonnifait
Affiliation:
Université de Technologie de Compiègne, France
P. Bouron
Affiliation:
Université de Technologie de Compiègne, France
D. Meizel
Affiliation:
Université de Technologie de Compiègne, France
P. Crubillé
Affiliation:
Université de Technologie de Compiègne, France
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Abstract

A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. A new odometric technique using the four ABS sensors is presented. Due to the redundancy of measurements, the precision is better than the method using differential odometry on the rear wheels only. The sampling is performed when necessary and when a GPS measurement is performed. This implies a noticeable reduction of the GPS latency, simplifying the data-fusion process and improving the quality of its results.

Keywords

GPSOdometryData fusionKalman filtering
Type
Research Article
Information
The Journal of Navigation , Volume 56 , Issue 3 , September 2003 , pp. 429 - 441
Copyright
© 2003 The Royal Institute of Navigation

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