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A localization system using GPS, ABS sensors and a driving wheel encoder is described and tested through real experiments. A new odometric technique using the four ABS sensors is presented. Due to the redundancy of measurements, the precision is better than the method using differential odometry on the rear wheels only. The sampling is performed when necessary and when a GPS measurement is performed. This implies a noticeable reduction of the GPS latency, simplifying the data-fusion process and improving the quality of its results. K E Y W O R D S 1. GPS. 2. Odometry. 3. Data fusion. 4. Kalman filtering.

This paper gives an ezample of the w e set membership techniques for detecting component fault and model failures and isolating the cawe of the fault. Set membership estimation techniques can inhemntly detect model failure when the estimated set becomes empty. This property is here applied for fusing parity equations genemted by an analytic redundancy study. For each parity equation, one defines a symbolic indicator that individually characterizes a certain or possible failure. Defining a {cawe/effect) a m y makes it possible to isolate the certain or possible cnuses of the defect. The method is developped within a pedagogical ezample of the kinematical model of a vehicle.