Tightly Coupled Low Cost 3D RISSGPS Integration Using a Mixture Particle Filter for Vehicular Navigation 英文参考文献.docVIP
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Tightly Coupled Low Cost 3D RISSGPS Integration Using a Mixture Particle Filter for Vehicular Navigation 英文参考文献
Sensors 2011, 11, 4244-4276; doi:10.3390/s110404244
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
Tightly Coupled Low Cost 3D RISS/GPS Integration Using a
Mixture Particle Filter for Vehicular Navigation
Jacques Georgy 1,* and Aboelmagd Noureldin 2,3
1
Trusted Positioning Inc., Calgary, AB, T2L 2K7, Canada
2
Electrical and Computer Engineering Department, Royal Military College of Canada, Kingston,
ON, K7K 7B4, Canada
3
Electrical and Computer Engineering Department, Queen’s University, Kingston, ON, K7L 3N6,
Canada; E-Mail: aboelmagd.noureldin@rmc.ca
* Author to whom correspondence should be addressed; E-Mail: jgeorgy@;
Tel.: +1-403-210-7340; Fax: +1-403-282-1238.
Received: 15 February 2011; in revised form: 2 April 2011 / Accepted: 7 April 2011 /
Published: 8 April 2011
Abstract: Satellite navigation systems such as the global positioning system (GPS) are
currently the most common technique used for land vehicle positioning. However, in
GPS-denied environments, there is an interruption in the positioning information. Low-cost
micro-electro mechanical system (MEMS)-based inertial sensors can be integrated with
GPS and enhance the performance in denied GPS environments. The traditional technique
for this integration problem is Kalman filtering (KF). Due to the inherent errors of low-cost
MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has
limited capabilities in providing accurate positioning. Particle filtering (PF) was recently
suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor
characteristics, motion dynamics and noise distributions. An enhanced version of PF called
the Mixture PF is utilized in this study to perform tightly coupled integration of a three
dimensional (3D) reduced inertial sensors system (RISS) with GPS. In this work, the RISS
consists of one single-axis gyroscope and a two-axis accelerometer used
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