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.doc

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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