Title: Theoretical framework for In-Car Navigation based on Integrated GPS/IMU Technologies
Authors: VITETTA GiorgioBALDINI Gianmarco
Publisher: Publications Office of the European Union
Publication Year: 2015
JRC N°: JRC93775
ISBN: 978-92-79-44729-7
ISSN: 1831-9424
Other Identifiers: EUR 27042
OP LB-NA-27042-EN-N
URI: http://publications.jrc.ec.europa.eu/repository/handle/JRC93775
DOI: 10.2788/509569
Type: EUR - Scientific and Technical Research Reports
Abstract: In this report the problem of vehicular navigation based on the integration of the global positioning system and an inertial navigation system is tackled. After analysing some fundamental technical issues about reference systems, vehicle modelling and sensors, a novel solution, combining extended Kalman filtering with particle filltering, is developed. This solution allows to embed highly non-linear constraints originating from digital maps in the position estimation process and is expected to be implementable on commercial hardware platforms equipped with low cost inertial sensors
JRC Directorate:Space, Security and Migration

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