Estimation of Positions of Vehicles with the Unsceneted Kalman Filter

This paper reports the effect of application o f the Unscented Kalman Filter on estimation of vehicle positions. GPS/Dead Reckoning (DR) navigation systems have ordinarily adopted the Extended Kalman Filter (EKF) due to the non-linearity of the estimation models. The authors applied the Unscented Kalman Filter that is expected to give a more precise nonlinear estimation than the EKF and compared its performances with the EKF’s. The experiments at a test course where positions of an experiment car at every 1/30 second precisely surveyed as criteria of the validation showed that the proposed method was effective especially the vehicle turns tightly.

Language

  • English

Media Info

  • Media Type: CD-ROM
  • Features: Figures; References; Tables;
  • Pagination: 6p
  • Monograph Title: ITS Connections: Saving Time. Saving Lives

Subject/Index Terms

Filing Info

  • Accession Number: 01146201
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Dec 1 2009 12:45PM