추측 항법 알고리즘을 이용한 차량 위치 추정기 개발Development of Vehicle Position Estimator using Dead Reckoning Algorithm
- Other Titles
- Development of Vehicle Position Estimator using Dead Reckoning Algorithm
- Authors
- 정호정; 이동휘; 김승기; 김창섭; 허건수
- Issue Date
- Nov-2012
- Publisher
- 한국자동차공학회
- Keywords
- Vehicle Position Estimation(차량 위치추정); Dead Reckoning(추측항법); Kalman Filter(칼만 필터); Global Positioning System(위성항법 시스템); In-Vehicle Sensor(차량 내부센서)
- Citation
- 2012년도 한국자동차공학회 학술대회, no. , pp.1255 - 1257
- Indexed
- OTHER
- Journal Title
- 2012년도 한국자동차공학회 학술대회
- Start Page
- 1255
- End Page
- 1257
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/164132
- 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.
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