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Tightly coupled algorithm based on nonlinear filtering in the state space with digital map navigation

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Abstract

This paper describes tightly coupled algorithms of measurements by coarse microelectromechanical sensors with data generated by GPS/GLONASS mobile onboard satellite navigation receivers. The synthesized algorithm ensures a highly accurate and high-frequency recording of linear and angular car parameters when the visible satellite constellation degrades and the accuracy of satellite-aided measurements decreases. The terrestrial vehicle is supposed only to travel along the highway with coordinates recorded in digital navigation maps.

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Correspondence to I. V. Shcherban.

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Original Russian Text © I.V. Shcherban, O.G. Shcherban, D.S. Konev, 2015, published in Avtomatika i Vychislitel’naya Tekhnika, 2015, No. 6, pp. 37–46.

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Shcherban, I.V., Shcherban, O.G. & Konev, D.S. Tightly coupled algorithm based on nonlinear filtering in the state space with digital map navigation. Aut. Control Comp. Sci. 49, 347–353 (2015). https://doi.org/10.3103/S0146411615060097

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  • DOI: https://doi.org/10.3103/S0146411615060097

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