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Citation |
Kojima Y, Suzuki N, Hattori Y, Teramoto E. Veh. Syst. Dyn. 2012; 50(6): 987-1000. |
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Copyright |
(Copyright © 2012, Informa - Taylor and Francis Group) |
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DOI |
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PMID |
unavailable |
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Abstract |
Driver assistance systems require the function of precise localisation. However, the accuracy of standard global positioning system (GPS) is inadequate for this. In this paper, a new method for precise localisation using the tightly coupled integration of inertial navigation system (INS) and raw GPS data is investigated. GPS Doppler corresponds to the relative velocity between the satellite and the receiver. Our new method enables us to make a robust and accurate estimation of the vehicle trajectory based on INS and GPS Doppler. Furthermore, the total optimisation by combining GPS pseudorange data with the accurate trajectory enables us to estimate the position of the vehicle precisely. |