In this paper, we consider the problem of trajectory reconstruction for the mobile mapping system Davide. Davide is equipped with a custom GPS/INS system and a number of dead-reckoning sensors, such as odometers, inclinometers, etc. The application falls in the framework of state reconstruction with multi-sensor architectures, for which GPSnNS integration is a paradigmatic problem. In this paper, to maximize the accuracy of trajectory reconstruction, we propose to use a combination oftwo strategies, namely a) to use a customized dynamical model of the vehicle, that includes nonholonomic constraints and load transfer in roll and pitch, and b) to use advanced nonlinear filtering techniques such as Montecarto filters.The performance of proposed algorithm is illustrated by means of both simulations and real vehicle data.

Model based GPS/INS integration for high accuracy land vehicle applications

MURADORE, Riccardo;
2005

Abstract

In this paper, we consider the problem of trajectory reconstruction for the mobile mapping system Davide. Davide is equipped with a custom GPS/INS system and a number of dead-reckoning sensors, such as odometers, inclinometers, etc. The application falls in the framework of state reconstruction with multi-sensor architectures, for which GPSnNS integration is a paradigmatic problem. In this paper, to maximize the accuracy of trajectory reconstruction, we propose to use a combination oftwo strategies, namely a) to use a customized dynamical model of the vehicle, that includes nonholonomic constraints and load transfer in roll and pitch, and b) to use advanced nonlinear filtering techniques such as Montecarto filters.The performance of proposed algorithm is illustrated by means of both simulations and real vehicle data.
GPS/INS integration; Kalman filtering
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/391052
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 1
social impact