Low-cost three-dimensional navigation solution for RISS/GPS integration using mixture particle filter

IEEE Transactions on Vehicular Technology

Volumn 59, Issue 2, 2010, Pages 599-615

  Georgy, Jacques ^a,b,c   Noureldin, Aboelmagd ^a,c   Korenberg, Michael J ^a   Bayoumi, Mohamed M ^a  

^a QUEEN S UNIVERSITY   (Canada)

^b The British University in Egypt   (Egypt)

^c ROYAL MILITARY COLLEGE OF CANADA   (Canada)

Author keywords

Global Positioning System (GPS); Inertial navigation system (INS) GPS integration; Inertial sensors; Kalman filter (KF); Land vehicle navigation; Particle filter (PF)

Indexed keywords

3D NAVIGATION; GPS SIGNALS; HIGH NOISE LEVELS; INERTIAL SENSOR; INHERENT ERRORS; INS/GPS INTEGRATION; INTEGRATION PROBLEMS; KALMAN-FILTERING; LAND VEHICLE NAVIGATION; LAND VEHICLES; MEMS INERTIAL SENSORS; MICROELECTROMECHANICAL SYSTEMS; MOTION DYNAMICS; MOVING PLATFORM; MULTI-PATH EFFECT; NAVIGATION SOLUTION; NOISE DISTRIBUTION; NON-LINEAR FILTERING TECHNIQUES; PARTICLE FILTER; PARTICLE FILTERING; POSITIONING ACCURACY; RESAMPLING; SIGNAL BLOCKAGE; SINGLE-AXIS; TECHNOLOGICAL ADVANCES; TRADITIONAL TECHNIQUES; TWO-AXIS ACCELEROMETER; URBAN CANYONS; WHOLE SYSTEMS;

AIR FILTERS; COST REDUCTION; GLOBAL POSITIONING SYSTEM; INERTIAL NAVIGATION SYSTEMS; INTEGRATION; KALMAN FILTERS; MEMS; MICROELECTROMECHANICAL DEVICES; MIXTURES; NONLINEAR FILTERING; SMART SENSORS; THREE DIMENSIONAL; VEHICLES;

NAVIGATION;

EID: 77249086184     PISSN: 00189545     EISSN: None     Source Type: Journal    
DOI: 10.1109/TVT.2009.2034267     Document Type: Article

References (35)

1. I. Skog and P. Handel, "In-car positioning and navigation-A survey," IEEE Trans. Intell. Transp. Syst., vol.10, no.1, pp. 4-21, Mar. 2009.
2. J. Marias, M. Berbineau, and M. Heddebaut, "Land mobile GNSS availability and multipath evaluation tool," IEEE Trans. Veh. Technol., vol.54, no.5, pp. 1697-1704, Sep. 2005.
3. R. Carlson, J. Gerdes, and J. Powell, "Error sources when land vehicle dead reckoning with differential wheelspeeds," Navigation, vol.51, no.1, pp. 13-27, 2004.
4. J. A. Farrell and M. Barth, The Global Positioning System and Inertial Navigation. New York: McGraw-Hill, 1998.
5. M. S. Grewal, L. R. Weill, and A. P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration. Hoboken, NJ: Wiley, 2001.
6. S. Godha and M. E. Cannon, "GPS/MEMS INS integrated system for navigation in urban areas," GPS Solut., vol.11, no.3, pp. 193-203, Jul. 2007.
7. G. Dissanayake, S. Sukkarieh, E. Nebot, and H. Durrant-Whyte, "The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications," IEEE Trans. Robot. Autom., vol.17, no.5, pp. 731-747, Oct. 2001.
8. M. Quddus, W. Ochieng, and R. Noland, "Integrity of map-matching algorithms," Transp. Res., Part C: Emerg. Technol., vol.14, no.4, pp. 283-302, Aug. 2006.
9. D. Obradovic, H. Lenz, and M. Schupfner, "Fusion of sensor data in Siemens car navigation system," IEEE Trans. Veh. Technol., vol.56, no.1, pp. 43-50, Jan. 2007.
10. J.-H.Wang and Y. Gao, "High-sensitivity GPS data classification based on signal degradation conditions," IEEE Trans. Veh. Technol., vol.56, no.2, pp. 566-574, Mar. 2007.
11. A. Noureldin, T. B. Karamat, M. D. Eberts, and A. El-Shafie, "Performance enhancement of MEMS based INS/GPS integration for low cost navigation applications," IEEE Trans. Veh. Technol., vol.58, no.3, pp. 1077-1096, Mar. 2009.
12. A. Doucet, S. J. Godsill, and C. Andrieu, "On sequential Monte Carlo sampling methods for Bayesian filtering," Stat. Comput., vol.10, no.3, pp. 197-208, Nov. 2000.
13. H. L. Dyckman, S. Sloat, and B. Pettus, "Particle filtering to improve GPS/INS integration," in Proc. ION GNSS 2004, Long Beach, CA, Sep. 2004, pp. 1619-1626.
14. Y. Yi and D. A. Grejner-Brzezinska, "Tightly-coupled GPS/INS integration using unscented Kalman filter and particle filter," in Proc. ION GNSS 2006, Fort Worth, TX, Sep. 2006, vol.4, pp. 2182-2191.
15. A. Giremus, J.-Y. Tourneret, and P. M. Djuric, "An improved regularized particle filter for GPS/INS integration," in Proc. 6th IEEE Int. Workshop SPAWC, New York, Jun. 2005, pp. 1013-1017.
16. A. Giremus, A. Doucet, V. Calmettes, and J.-Y. Tourneret, "A Rao-Blackwellized particle filter for INS/GPS integration," in Proc. IEEE Int. Conf. Acoust., Speech, Signal Process., 2004, vol.3, pp. III-964-III-967.
17. F. Caron, M. Davy, E. Duflos, and P. Vanheeghe, "Particle filtering for multisensor data fusion with switching observation models: Application to land vehicle positioning," IEEE Trans. Signal Process., vol.55, no.6, pp. 2703-2719, Jun. 2007.
18. P. Aggarwal, D. Gu, S. Nassar, Z. Syed, and N. El-Sheimy, "Extended particle filter (EPF) for INS/GPS land vehicle navigation applications," in Proc. ION GNSS 2007, Fort Worth, TX, Sep. 2007, pp. 2619-2626.
19. P. Aggarwal, Z. Syed, and N. El-Sheimy, "Hybrid extended particle filter (HEPF) for integrated civilian navigation system," in Proc. IEEE/ION PLANS, Monterey, CA, May 2008, pp. 984-992.
20. U. Iqbal, A. F. Okou, and A. Noureldin, "An integrated reduced inertial sensor system-RISS/GPS for land vehicle," in Proc. IEEE/ION PLANS, Monterey, CA, May 2008, pp. 912-922.
21. J. Georgy, U. Iqbal, M. Bayoumi, and A. Noureldin, "Reduced inertial sensor system (RISS)/GPS integration using particle filtering for land vehicles," in Proc. ION GNSS 2008, Savannah, GA, Sep. 2008, pp. 30-37.
22. A. Brandt and J. F. Gardner, "Constrained navigation algorithms for strapdown inertial navigation systems with reduced set of sensors," in Proc. Amer. Control Conf., Philadelphia, PA, 1998, pp. 1848-1852.
23. CarChip OBDII-Based Vehicle Data Logger and Software, Davis Instruments, 2007. [Accessed: May 21, 2009]. [Online]. Available: http:// www.davisnet.com/product-documents/drive/spec-sheets/8226-Specs-CarChipPro.pdf
24. A. Noureldin, D. Irvine-Halliday, and M. P. Mintchev, "Measurementwhile-drilling surveying of highly-inclined and horizontal well sections utilizing single-axis gyro sensing system," Meas. Sci. Technol., vol.15, no.12, pp. 2426-2434, Dec. 2004.
25. A. Noureldin, D. Irvine-Halliday, and M. P. Mintchev, "Accuracy limitations of FOG-based continuous measurement-while-drilling surveying instruments for horizontal wells," IEEE Trans. Instrum. Meas., vol.51, no.6, pp. 1177-1191, Dec. 2002.
26. N. J. Gordon, D. J. Salmond, and A. F. M. Smith, "Novel approach to nonlinear/non-Gaussian Bayesian state estimation," Proc. Inst. Elect. Eng.-F, Radar Signal Process., vol.140, no.2, pp. 107-113, Apr. 1993.
27. F. Dellaert, D. Fox, W. Burgard, and S. Thrun, "Monte Carlo localization for mobile robots," in Proc. IEEE ICRA, Detroit, MI, 1999, pp. 1322-1328.
28. P. Jensfelt, "Approaches to mobile robot localization in indoor environments," Ph.D. dissertation, Dept. Sens., Signals Syst., Roy. Inst. Technol., Stockholm, Sweden, 2001.
29. P. Jensfelt, O. Wijk, D. Austin, and M. Andersson, "Experiments on augmenting condensation for mobile robot localization," in Proc. IEEE ICRA, San Francisco, CA, 2000, vol.3, pp. 2518-2524. (Pubitemid 30895030)
30. S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo localization for mobile robots," Artif. Intell., vol. 128, no. 1/2, pp. 99-141, May 2001.
31. M. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, "A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking," IEEE Trans. Signal Process., vol.50, no.2, pp. 174-188, Feb. 2002.
32. IMU300-6DOF Inertial Measurement Unit, Crossbow Technology Inc. [Accessed: May 21, 2009]. [Online]. Available: www.xbow.com/ Products/Product-pdf-files/Inertial-pdf/IMU300CC-Datasheet.pdf
33. J. Wilson, "Low-cost PND dead reckoning using automotive diagnostic links," in Proc. ION GNSS 2007, Fort Worth, TX, Sep. 2007, pp. 2066-2074.
34. SPAN Technology System User Manual OM-20000062: NovAtel Inc. Calgary, AB, Canada, 2005. [Accessed: May 21, 2009]. [Online]. Available: www.novatel.com/Documents/Manuals/om-20000062.pdf
35. Lassen SQ GPS Receiver-System Designer Reference Manual: Trimble Navig. Ltd., Sunnyvale, CA, 2002. [Accessed: May 21, 2009]. [Online]. Available: http://trl.trimble.com/docushare/dsweb/Get/Document-138833/LassenSQ-0601print. pdf