ETRI Journal

  • 제26권5호
  • /
  • Pages.497-500
  • /
  • 2004
  • /
  • 1225-6463(pISSN)
  • /
  • 2233-7326(eISSN)
한국전자통신연구원 (Electronics and Telecommunications Research Institute)
권호 표지

A Bimodal Approach for Land Vehicle Localization

  • 투고 : 2004.10.04
  • 발행 : 2004.10.31
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초록

In this paper, we present a novel idea to integrate a low cost inertial measurement unit (IMU) and Global Positioning System (GPS) for land vehicle localization. By taking advantage of positioning data calculated from an image based on photogrammetry and stereo-vision techniques, errors caused by a GPS outage for land vehicle localization were significantly reduced in the proposed bimodal approach. More specifically, positioning data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate for IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method, which can be used to reduce positioning errors caused by a low cost IMU when a GPS signal is not available in urban areas.

키워드

참고문헌

  1. Strapdown Inertial Navigation Technology Titterton, D.H.;Weston, J.L.
  2. Accuracy Improvement of Low Cost INS/GPS for Land Applications, UCGE Reports Number 20156 Shin, E.H.
  3. ASPRS Annual Convention Integrated GPS-Inertial Measurement Solution as an Alternative to Aerial Triangulation: a Case Study Abdullah, Q.A.;Tuttle, M.A.
  4. PE&RS v.59 no.11 An Integrated INS/GPS Approach to the Georeferencing of Remotely Sensed Data Schwar, K.P.;Chapman, M.A.;Cannon, M.E.;Gong, P.
  5. Introduction to Random Signals and Applied Kalman Filtering Brown, R.G.;Hwang, P.Y.C.
  6. ETRI J. v.25 no.2 A Probabilistic Network for Facial Feature Verification Choi, K.H.;Yoo, J.J.;Hwang, T.H.;Park, J.H.;Lee, J.H.