Theoretical framework for In-Car Navigation based on Integrated GPS/IMU Technologies
نویسندگان
چکیده
In this report the problem of vehicular navigation based on the integration of the global positioning system and an inertial navigation system is tackled. After analysing some fundamental technical issues about reference systems, vehicle modelling and sensors, a novel solution, combining extended Kalman Filtering with particle Fitering, is developed. This solution allows to embed highly nonlinear constraints originating from digital maps in the position estimation process and is expected to be implementable on commercial hardware platforms equipped with low cost inertial sensors. Theoretical framework for In-Car Navigation based on Integrated GPS/IMU Technologies Giorgio M. Vitetta, ∗ Gianmarco Baldini
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