A data fusion algorithm for DR/GPS/Map-Match Integrated Navigation System

摘要：

In this paper,a data fusion algorithm for DR/GPS/MapMatch (MM) is proposed and implemented. DR is used as the primary navigation system while GPS and MM are used as aiding systems. The algorithm consists of 3 sub-algorithms,which are DR-GPS data fusion algorithm,Map-Match algorithm,and DR parameter correction algorithm. The data fusion algorithm first fuses the DR output and GPS which yields the input of the MM system. The MM algorithm chooses the proper road and project the vehicle position onto the road,which is based on a fuzzy road choosing theory that takes the distance and azimuth difference between the vehicle and alternative road into consideration. A similarity flag which represents the reliability of the MM data is proposed to enhance the robustness of the data fusion between DR and MM. The MM data is used not only to update positioning information of the DR but also to correct the parameters such as gyroscope scale factor and odometer scale factor,which greatly helps prevent the DR error from going wild.

关键词： data fusion integrated navigation Map-Match dead reckoning fuzz ycontrol error correction

作者: Yongqiang Han Zhide Liu Jiabin Chen Ling Xie

作者单位: School of Automation,Beijing Institute of Technology

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 891-896

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）