|MULTI-SENSOR DATA FUSION IN LAND VEHICLES|
The paper presents a design of integrated system consisting of typical sensors used in land vehicles. The positioning system (PS) consists of odometer, gyro, electronic compass and Global Positioning System receiver. Two complementary Kalman filters are used for joint data processing. The first algorithm processes data from the gyro and the electronic compass, providing the current heading of the vehicle. This heading along with distance increments from odometer is used in a dead reckoning (DR) subsystem of PS to determine current positions of the vehicle. The second filter processes data from DR and GPS receiver and yields DR corrections estimates. These corrections are used in a feed-forward error correction loop. Both filters operate independently. Chosen simulation results are included in the paper.
|Key Words:||Navigation Systems, GPS, Dead Reckoning, Kalman Filter, Digital Signal Processing|