GPS와 차량 내부 정보를 이용한 적응 차량위치 추정 알고리즘

Title
GPS와 차량 내부 정보를 이용한 적응 차량위치 추정 알고리즘
Other Titles
An Adaptive Estimation Algorithm for Vehicle Positioning Based on GPS and In-Vehicle Sensors
Authors
허건수
Keywords
Position Estimation; Extended Kalman Filter; Outlier Filter; Global Positioning System; In-Vehicle Sensor; 위치 추정; 확장 칼만 필터; 아웃라이어 필터; 위성항법 시스템; 차량내부 센서
Issue Date
2015-05
Publisher
한국자동차공학회
Citation
2015 KSAE 부문 종합학술대회, 2015.5, 377-380
Abstract
Recently, researches on autonomous driving vehicle and advanced driver assistance systems (ADAS) are very active and it is obvious that the knowledge of accurate vehicle position is extremely valuable for these researches. This paper presents a position estimation algorithm for vehicle based on the integration of Global Positioning system (GPS) and In-Vehicle sensors. The aim of this paper is to achieve more accurate position of the vehicle by eliminating the unexpected GPS signal error resulted from overpass and multipath. In order to eliminate the inaccurate GPS signal, the status of GPS link is considered and also additional filtering algorithm is designed. The performance of the proposed algorithm has been evaluated by the vehicle experiment.
URI
http://www.dbpia.co.kr/Article/NODE06367222http://hdl.handle.net/20.500.11754/24476
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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