{"title":"基于GPS/INS集成的自动驾驶汽车定位方法","authors":"Qingmei Yang, Jianmin Sun","doi":"10.1109/ICVES.2007.4456376","DOIUrl":null,"url":null,"abstract":"The location system is a key technology of autonomous vehicle. Autonomous vehicle can sense all kinds of information and make decisions during moving out of door. The integrated GPS/INS location system of autonomous vehicle based on data fusion is studied in the paper. Based on the analysis of location methods, such as the Global Positioning System (GPS), inertial navigation system (INS), dead reckoning (DR) system and the vector electronic map, GPS and IMS are integrated in the location system of the autonomous vehicle. The GPS/INS integrated location system is designed. Kalman filter is used in the GPS subsystem and the IMS subsystem. Data of fusion of INS/GPS is simulated. The results of simulation show that the fusion location can improve the precision and reliability of the location system.","PeriodicalId":202772,"journal":{"name":"2007 IEEE International Conference on Vehicular Electronics and Safety","volume":"14 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"A location method for autonomous vehicle based on integrated GPS/INS\",\"authors\":\"Qingmei Yang, Jianmin Sun\",\"doi\":\"10.1109/ICVES.2007.4456376\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The location system is a key technology of autonomous vehicle. Autonomous vehicle can sense all kinds of information and make decisions during moving out of door. The integrated GPS/INS location system of autonomous vehicle based on data fusion is studied in the paper. Based on the analysis of location methods, such as the Global Positioning System (GPS), inertial navigation system (INS), dead reckoning (DR) system and the vector electronic map, GPS and IMS are integrated in the location system of the autonomous vehicle. The GPS/INS integrated location system is designed. Kalman filter is used in the GPS subsystem and the IMS subsystem. Data of fusion of INS/GPS is simulated. The results of simulation show that the fusion location can improve the precision and reliability of the location system.\",\"PeriodicalId\":202772,\"journal\":{\"name\":\"2007 IEEE International Conference on Vehicular Electronics and Safety\",\"volume\":\"14 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 IEEE International Conference on Vehicular Electronics and Safety\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICVES.2007.4456376\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE International Conference on Vehicular Electronics and Safety","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICVES.2007.4456376","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A location method for autonomous vehicle based on integrated GPS/INS
The location system is a key technology of autonomous vehicle. Autonomous vehicle can sense all kinds of information and make decisions during moving out of door. The integrated GPS/INS location system of autonomous vehicle based on data fusion is studied in the paper. Based on the analysis of location methods, such as the Global Positioning System (GPS), inertial navigation system (INS), dead reckoning (DR) system and the vector electronic map, GPS and IMS are integrated in the location system of the autonomous vehicle. The GPS/INS integrated location system is designed. Kalman filter is used in the GPS subsystem and the IMS subsystem. Data of fusion of INS/GPS is simulated. The results of simulation show that the fusion location can improve the precision and reliability of the location system.
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