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Development of a precise GPS/INS/on-...

Gao, Jianchen.

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Development of a precise GPS/INS/on-board vehicle sensors integrated vehicular positioning system.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Development of a precise GPS/INS/on-board vehicle sensors integrated vehicular positioning system./
作者:	Gao, Jianchen.
面頁冊數:	244 p.
附註:	Source: Dissertation Abstracts International, Volume: 68-11, Section: B, page: 7642.
Contained By:	Dissertation Abstracts International68-11B.
標題:	Engineering, Automotive. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=NR34172
ISBN:	9780494341728

Development of a precise GPS/INS/on-board vehicle sensors integrated vehicular positioning system.
Gao, Jianchen.

Development of a precise GPS/INS/on-board vehicle sensors integrated vehicular positioning system. - 244 p.

Source: Dissertation Abstracts International, Volume: 68-11, Section: B, page: 7642.

Thesis (Ph.D.)--University of Calgary (Canada), 2007.

As a commonly used system for a land vehicle positioning system, a GPS/INS integrated system harnesses either a tactical grade or low cost IMU. The high cost of a tactical grade IMU constitutes its main limitation to commercial deployment. The performance of a low cost IMU degrades quickly over a short time interval of GPS outages. A larger error drift of a low cost IMU is not well suited to a land vehicle positioning system that has a strict requirement on positioning accuracy such as an intelligent or autonomous vehicle control system.

ISBN: 9780494341728Subjects--Topical Terms:

1018477
Engineering, Automotive.

Development of a precise GPS/INS/on-board vehicle sensors integrated vehicular positioning system.
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520 $a As a commonly used system for a land vehicle positioning system, a GPS/INS integrated system harnesses either a tactical grade or low cost IMU. The high cost of a tactical grade IMU constitutes its main limitation to commercial deployment. The performance of a low cost IMU degrades quickly over a short time interval of GPS outages. A larger error drift of a low cost IMU is not well suited to a land vehicle positioning system that has a strict requirement on positioning accuracy such as an intelligent or autonomous vehicle control system.
520 $a With a consideration of low cost and high accuracy, several on-board vehicle sensors built-in an actual vehicle stability control system are integrated with GPS and low cost IMU. The on-board vehicle sensors are dedicated to bridging the gap and limit low cost IMU rapid drift errors during GPS outages.
520 $a The on-board vehicle sensors used and analyzed include four wheel speed sensors, G sensors (accelerometers), yaw rate sensor (angular rate gyro) and steering angle sensor. Three basic and two combined integration strategies and algorithms are developed. The integration of the steering angle sensor is particularly novel. A mechanism is developed to detect and alleviate the violation of the lateral non-holonomic constraint widely used in the wheel speed sensor. The integrated system is implemented in both post-mission and real-time.
520 $a The benefits gained from the on-board vehicle sensors are investigated in terms of the positioning accuracy and the time-to-fix GPS ambiguities. The integration strategy with all on-board vehicle sensors performs best among all the proposed integration strategies. With respect to the GPS and low cost IMU integrated system, its percentage improvements are 92.6% for a post-mission test in an open-sky area by simulating GPS outages, 65.1% for a suburban area real-time test and 79.2 % for a pseudo-urban area real-time test. For ambiguity resolution, the percentage improvement over GPS-only in terms of the average time-to-fix ambiguity by integrating all on-board vehicle sensors with a low cost IMU is about 15% for 40 s GPS outages.
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