文献类型：会议论文

英文题名：A location method for autonomous vehicle based on integrated GPS/INS

作者：Yang, Qingmei[1];Sun, Jianmin[2]

第一作者：杨清梅

通讯作者：Yang, QM[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[2]Beijing Univ, Civil Engn & Architecture, Automobile Engn, Sch Mech Elect, Beijing 100044, Peoples R China

第一机构：北京联合大学城市轨道交通与物流学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China.|[1141751]北京联合大学城市轨道交通与物流学院;[11417]北京联合大学;

会议论文集：IEEE International Conference on Vehicular Electronics and Safety

会议日期：DEC 13-15, 2007

会议地点：Beijing, PEOPLES R CHINA

语种：英文

外文关键词：Data fusion - Global positioning system - Inertial navigation systems - Location - Navigation - Vehicle locating systems

摘要：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.