0
research-article

Vehicle positioning based on velocity and heading angle observer using low cost sensor fusion

[+] Author and Article Information
Giseo Park

Department of Mechanical Engineering, KAIST KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea
giseo123@kaist.ac.kr

Yoonjin Hwang

Department of Mechanical Engineering, KAIST KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea
yoonjinh@kaist.ac.kr

Seibum B. Choi

Department of Mechanical Engineering, KAIST KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea
sbchoi@kaist.ac.kr

1Corresponding author.

ASME doi:10.1115/1.4036881 History: Received January 03, 2017; Revised May 10, 2017

Abstract

The vehicle positioning system can be utilized for various automotive applications. Primarily focusing on practicality, this paper presents a new method for vehicle positioning systems using low-cost sensor fusion, which combines global positioning system (GPS) data and data from easily available in-vehicle sensors. As part of the vehicle positioning, a novel nonlinear observer for vehicle velocity and heading angle estimation is designed, and the convergence of estimation error is also investigated using Lyapunov stability analysis. Based on this estimation information, a new adaptive Kalman filter with rule-based logic provides robust and highly accurate estimations of the vehicle position. It adjusts the noise covariance matrices Q and R in order to adapt to various environments, such as different driving maneuvers and ever-changing GPS conditions. The performance of the entire system is verified through experimental results using a commercial vehicle. Finally, through a comparative study, the effectiveness of the proposed algorithm is confirmed.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In