Abstract
The presented contribution describes an approach to preprocessing and fusion of additional vehicle onboard sensors – the odometer and accelerometer, all targeted to serve as optional and temporary substitute for GPS-like navigation. The suggested solution explores a rule-based system for mutual substitutions and calibrations of the used sensors depending on actual conditions. The only usage of the GPS here stands in providing regular position calibrations and serves as a reference method for evaluation of the presented results. The presented solutions have been experimentally tested with real-world data as shown in the experimental part of the paper.
Keywords: data fusion, vehicle locator, odometer, accelerometer, odometry corrections, inertial navigation, satellite navigation
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Přeučil, L., Mázl, R. (2006). Vehicle Localization Using Inertial Sensors and GPS. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 24. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991459_14
Download citation
DOI: https://doi.org/10.1007/10991459_14
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-32801-8
Online ISBN: 978-3-540-32854-4
eBook Packages: EngineeringEngineering (R0)