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.

• Corporate Authors:

  ITS America

  1100 17th Street, NW, 12th Floor
  Washington, DC  United States  20036
• Authors:
  • Iida, Masahiro
  • Komiya, Tadashi
  • Akahane, Hirokazu
• Conference:
  • 15th World Congress on Intelligent Transport Systems and ITS America's 2008 Annual Meeting
  • Location: New York NY, United States
  • Date: 2008-11-16 to 2008-11-20
• Publication Date: 2008

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

• TRT Terms: Dead reckoning; Global Positioning System; Kalman filtering; Navigation systems; Traffic estimation
• Uncontrolled Terms: Vehicle positioning systems
• Subject Areas: Highways; Vehicles and Equipment; I90: Vehicles;

Filing Info

• Accession Number: 01146201
• Record Type: Publication
• Files: TRIS
• Created Date: Dec 15 2009 3:01PM