Enhanced MEMS-IMU/odometer/GPS integration using mixture particle filter

GPS Solutions

Volumn 15, Issue 3, 2011, Pages 239-252

  Georgy, Jacques ^a,b   Karamat, Tashfeen ^c   Iqbal, Umar ^c   Noureldin, Aboelmagd ^c,d  

^a Invensense Inc   (United States)

^b Ain Shams University   (Egypt)

^c QUEEN S UNIVERSITY   (Canada)

^d ROYAL MILITARY COLLEGE OF CANADA   (Canada)

Author keywords

GPS; Inertial sensors; INS GPS integration; Kalman filter; Land vehicle navigation; MEMS based IMU; Particle filter

Indexed keywords

AIR NAVIGATION; BANDPASS FILTERS; ELECTROMECHANICAL FILTERS; ERRORS; GLOBAL POSITIONING SYSTEM; INTEGRATION; KALMAN FILTERS; MICROELECTROMECHANICAL DEVICES; MIXTURES; MONTE CARLO METHODS; NAVIGATION; SOLUTION MINING; UNITS OF MEASUREMENT;

INERTIAL MEASUREMENT UNIT; INERTIAL NAVIGATIONS; INERTIAL SENSOR; INS/GPS INTEGRATION; LAND VEHICLE NAVIGATION; MEMS INERTIAL SENSORS; PARTICLE FILTER; TIME-VARYING CHANGES;

INERTIAL NAVIGATION SYSTEMS;

ACCURACY ASSESSMENT; DATA SET; ERROR ANALYSIS; GPS; KALMAN FILTER; NAVIGATION; NONLINEARITY; PERFORMANCE ASSESSMENT; ROAD; SENSOR; TRAJECTORY;

EID: 85027917768     PISSN: 10805370     EISSN: 15211886     Source Type: Journal    
DOI: 10.1007/s10291-010-0186-4     Document Type: Article

References (30)

1. Aggarwal P, Gu D, Nassar S, Syed Z, El-Sheimy N (2007) Extended particle filter (EPF) for INS/GPS land vehicle navigation applications. In: Proceedings of the 20th international technical meeting of the satellite division of the institute of navigation (ION GNSS 2007), Fort Worth, Texas, USA, September 2007, pp 2619-2626.
2. Aggarwal P, Syed Z, El-Sheimy N (2008) Hybrid extended particle filter (HEPF) for integrated civilian navigation system. In: Proceedings of IEEE/ION PLANS 2008, Monterey, California, USA, May 2008, pp 984-992.
3. Arulampalam MS, Maskell S, Gordon N, Clapp T (2002) A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking. IEEE Trans Signal Process 50(2).
4. CarChip (2007) OBDII-based vehicle data logger and software: Davis instruments.
5. Carlson R, Gerdes J, Powell J (2004) Error sources when land vehicle dead reckoning with differential wheelspeeds. Navigation 51(1): 13-27.
6. Caron F, Davy M, Duflos E, Vanheeghe P (2007) Particle filtering for multisensor data fusion with switching observation models: application to land vehicle positioning. IEEE Trans Signal Process 55(6): 2703-2719.
7. Dellaert F, Fox D, Burgard W, Thrun S (1999) Monte carlo localization for mobile robots. In: Proceedings of the IEEE international conference on robotics and automation (ICRA-99), Detroit, MI, USA.
8. Doucet A, Godsill SJ, Andrieu C (2000) On sequential monte carlo sampling methods for Bayesian filtering. Stat Comput 10: 197-208.
9. Dyckman HL, Sloat S, Pettus B (2004) Particle filtering to improve GPS/INS integration. In: Proceedings of the ION GNSS 2004, Long Beach, CA, USA, September 2004, pp 1619-1626.
10. Farrell JA (2008) Aided navigation: GPS with high rate sensors. McGraw Hill, NY.
11. Giremus A, Doucet A, Calmettes V, Tourneret J-Y (2004) A Rao-Blackwellized particle filter for INS/GPS integration. In: Proceedings of IEEE international conference on acoustics, speech, and signal processing, vol 3, pp iii 964-967.
12. Giremus A, Tourneret J-Y, Djuric PM (2005) An improved regularized particle filter for GPS/INS integration. In: The sixth IEEE international workshop on signal processing advances in wireless communications (SPAWC 2005), New York, NY, USA, June 2005, pp 1013-1017.
13. Godha S, Cannon E (2007) GPS/MEMS INS integrated system for navigation in urban areas. GPS Solut 11(3): 193-203.
14. Gordon NJ, Salmond DJ, Smith AFM (1993) Novel approach to nonlinear/non-Gaussian Bayesian state estimation. In: IEE proceedings-F (Radar and Signal Processing), vol 140, pp 107-113.
15. Grewal MS, Weill LR, Andrews AP (2007) Global positioning systems, inertial navigation, and integration. Wiley, New York.
16. Groves PD (2008) Principles of GNSS, inertial, and multisensor integrated navigation systems. Artech House.
17. HG1700 (2006) Inertial measurement unit: Honeywell.
18. IMU300-6DOF inertial measurement unit: Crossbow Technology Inc (2006).
19. Jensfelt P (2001) Approaches to mobile robot localization in indoor environments. Ph. D. thesis, Department of Sensors, signals and systems, Royal Institute of Technology, Sweden.
20. Jensfelt P, Wijk O, Austin D, Andersson M (2000) Experiments on augmenting condensation for mobile robot localization. In: Proceedings of the IEEE international conference on robotics and automation (ICRA-2000), vol 3, San Francisco, CA, USA, pp 2518-2524.
21. Lassen SQ GPS Receiver-system designer reference manual: Trimble Navigation Limited (2002).
22. Noureldin A, Irvine-Halliday D, Mintchev MP (2002) Accuracy limitations of FOG-based continuous measurement-while-drilling surveying instruments for horizontal wells. IEEE Trans Instrum Meas 51(6): 1177-1191.
23. Noureldin A, Irvine-Halliday D, Mintchev MP (2004) Measurement-while- drilling surveying of highly-inclined and horizontal well sections utilizing single-axis gyro sensing system. Meas Sci Technol IoP 15(12): 2426-2434.
24. Noureldin A, Karamat TB, Eberts MD, El-Shafie A (2009) Performance enhancement of MEMS based INS/GPS integration for low cost navigation applications. IEEE Trans Veh Technol 58(3): 1077-1096.
25. Quddus M, Ochieng W, Noland R (2006) Integrity of map-matching algorithms. Transp Res C Emerg Technol 14(4): 283-302.
26. Skog I, Handel P (2009) In-car positioning and navigation-a survey. IEEE Trans Intell Transp Syst 10(1): 4-21.
27. SPAN Technology System User Manual OM-20000062: NovAtel Inc (2005).
28. Thrun S, Fox D, Burgard W, Dellaert F (2001) Robust monte carlo localization for mobile robots. Artif Intell 128: 99-141.
29. Wilson J (2007) Low-cost PND dead reckoning using automotive diagnostic links. In: Proceedings of the 20th international technical meeting of the satellite division of the Institute of Navigation, (ION GNSS 2007), Fort Worth, Texas, USA, September 2007, pp 2066-2074.
30. Yi Y, Grejner-Brzezinska DA (2006) Tightly-coupled GPS/INS integration using unscented Kalman filter and particle filter. In: Proceedings of the Institute of Navigation-19th international technical meeting of the satellite division (ION GNSS 2006), vol 4, Fort Worth, TX, USA, September 2006, pp 2182-2191.