추측 항법 알고리즘을 이용한 차량 위치 추정기 개발

Abstract

This paper propose the performance of vehicle positioning estimator using dead reckoning algorithm based on low-cost GPS and in-vehicle sensors. Dead reckoning algorithm can estimate position of vehicle using velocity and heading angle. In order to achieve vehicle dynamics estimation, Kalman filter is used based on vehicle modeling. Kinematic model and dynamic model can be determined by probability. Also this estimator can exclude low accuracy GPS data to improve control performance. Also dead reckoning can interpolate low-cost GPS data for continuous and fast sampling rate. Simulation result shows that the purposed estimator is robust and better performance.