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Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Title
Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages
Authors
Han, Joong-HeePark, Chi-HoHong, Chang-KiKwon, Jay Hyo-Un
DGIST Authors
Han, Joong-Hee; Park, Chi-Ho
Issue Date
2017
Citation
Journal of Sensors
Type
Article
Article Type
Article
Keywords
Accuracy LimitationsAdvanced Driver Assistance SystemsAdvanced Driver Assistant SystemsAutomobile DriversAutomobile Safety DevicesFusionGlobal Positioning SystemIntegrationIntegration AlgorithmKalman FilterLocalizationNavigationNavigation SolutionPerformance AnalysisSteering-Angle SensorVehicle PerformanceVehiclesWheel Speed SensorsYaw Rate Sensors
ISSN
1687-725X
Abstract
Recently, to improve safety and convenience in driving, numerous sensors are mounted on cars to operate advanced driver assistant systems. Among various sensors, vehicle dynamic sensors can measure the vehicle motions such as speed and rotational angular speed for dead reckoning, which can be applied to develop a land vehicle positioning system to overcome the weaknesses of the GNSS technique. In this paper, three land vehicle positioning algorithms that integrate GNSS with vehicle dynamic sensors including a wheel speed sensor (WSS), a yaw rate sensor (YRS), and a steering angle sensor (SAS) are implemented, and then a performance evaluation was conducted during GNSS outages. Using a loosely coupled strategy, three integration algorithms are designed, namely, GNSS/WSS, GNSS/WSS/YRS, and GNSS/WSS/YRS/SAS. The performance of the three types of integration algorithm is evaluated based on two data sets. The results indicate that both the GNSS/WSS/YRS integration and the GNSS/WSS/YRS/SAS integration could estimate the horizontal position with meter-level accuracy during 30-second GNSS outages. However, the GNSS/WSS integration would provide an unstable navigation solution during GNSS outages due to the accuracy limitation of the computed yaw rate using WSS. © 2017 Joong-hee Han et al.
URI
http://hdl.handle.net/20.500.11750/4562
DOI
10.1155/2017/9802610
Publisher
Hindawi Limited
Related Researcher
Files:
There are no files associated with this item.
Collection:
Intelligent Devices and Systems Research Group1. Journal Articles


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